Series Compliance for an Efficient Running Gait: Lessons Learned from the Electric Cable Differential Leg
J. W. Hurst and A. A. Rizzi
IEEE Robotics and Automation Magazine, Vol. 15, Issue 3, September, 2008

 

The Role and Implementation of Compliance in Legged Locomotion
J.W. Hurst
Doctoral dissertation, tech. report CMU-RI-TR-08-48, Robotics Institute, Carnegie Mellon University, August, 2008. [Abstract]

A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
IEEE Conference on Robotics and Automation, April, 2007. [Abstract]

Design and Philosophy of the BiMASC, a Highly Dynamic Biped
J.W. Hurst, J. Chestnutt, and A. Rizzi
IEEE Conference on Robotics and Automation, April, 2007. [Abstract]

Physically Variable Compliance in Running
J.W. Hurst and A. Rizzi
International Conference on Climbing and Walking Robots., SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]

An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
J.W. Hurst, J. Chestnutt, and A. Rizzi
IEEE Conference on Robotics and Automation, May, 2004. [Abstract]

Series Elastic Actuation: Potential and Pitfalls
J.W. Hurst,D. Hobbelen, and A. Rizzi
International Conference on Climbing and Walking Robots., SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]

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