@inproceedings{ad2e16fe813b4ef797247c3281cf4e58,
title = "Design of a Minimalistic Torque Actuated Variable Rolling SLIP Leg for Robust Locomotion",
abstract = "In this paper we investigate the use of an optimal control coupling applied to a continuously jumping robot utilizing a single spiral-shaped leg. Exploiting multiple controllers simultaneously can increase robustness over uneven terrain. However, this can be difficult to actualize. By designing a spiral-shaped leg, we can couple leg length and stiffness and optimize leg retraction rate and torque. Through this embodied design we can achieve a robust minimalistic running robot with a simple feedforward controller.",
keywords = "Design optimization, Legged locomotion, Minimalistic control",
author = "Noah Paul and Adar Gaathon and Amir Degani",
note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 25th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2022 ; Conference date: 12-09-2022 Through 14-09-2022",
year = "2023",
doi = "10.1007/978-3-031-15226-9_23",
language = "الإنجليزيّة",
isbn = "9783031152252",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "231--241",
editor = "Cascalho, {Jos{\'e} M.} and Armando Mendes and Matthias Funk and Tokhi, {Mohammad Osman} and Silva, {Manuel F.} and Khaled Goher",
booktitle = "Robotics in Natural Settings - CLAWAR 2022",
address = "ألمانيا",
}