Enhancing self-stability of a passive dynamic runner by exploiting nonlinearity in the leg elasticity

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


Recently, it has been widely recognized that control and mechanical systems cannot be designed separately due to their tight interdependency. However, there still leaves much to be understood about how well-balanced coupling between control and mechanical systems can be achieved. Therefore, as an initial step toward this goal, this study intensively discusses the effect of the intrinsic dynamics of a robot's body on the resulting behavior, in the hope that mechanical systems appropriately designed will allow us to significantly reduce the complexity of control algorithm required. More precisely, we focus on the property of leg elasticity of a passive dynamic running biped, and investigate how this influences the stability of running. As a result, we have found that a certain type of nonlinearity in the leg elasticity plays a crucial role to enhance the stability of passive dynamic running. To the best of our knowledge, this has never been explicitly considered so far.

Original languageEnglish
Title of host publication2006 SICE-ICASE International Joint Conference
Number of pages6
Publication statusPublished - 2006 Dec 1
Event2006 SICE-ICASE International Joint Conference - Busan, Korea, Republic of
Duration: 2006 Oct 182006 Oct 21

Publication series

Name2006 SICE-ICASE International Joint Conference


Other2006 SICE-ICASE International Joint Conference
Country/TerritoryKorea, Republic of


  • Leg elasticity
  • Mechanical dynamics
  • Passive dynamic runner
  • Stability of running

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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