Grounded running: An overlooked strategy for robots

Abstract

In this paper, the possible advantages of using grounded running, a running gait without aerial phases, for fast robot locomotion are discussed. Extended fields of fixed points for grounded running, obtained using dimensionless numerical modeling, are presented. They can be used to find global parameters for the design and operation of robots. The use of self-stable (for steady-state locomotion) or weak unstable (to improve maneuverability-stability trade-off) gait-modes as a design parameter could represent a strategy to reduce the still existing gap between animals and mimicking machines with respect to elegance and performance. © 2012 Springer-Verlag Berlin Heidelberg.