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cs.RO2022
Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
Abhishek Chatterjee, An Mo, Bernadett Kiss +2
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animal…
cs.RO2022
Power to the springs: Passive elements are sufficient to drive push-off in human walking
Alexandra Buchmann, Bernadett Kiss, Alexander Badri-Sprowitz +1
For the impulsive ankle push-off (APO) observed in human walking two muscle-tendon-units (MTUs) spanning the ankle joint play an important role: Gastrocnemius (GAS) and Soleus (SOL…
cs.RO2022
Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot
Bernadett Kiss, Emre Cemal Gonen, An Mo +3
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walkin…