@inproceedings{3b78ff7c5f304f36b9a9efff2456bae1,
title = "Highly dynamic robotic leg for non-biomimetic walking robots",
abstract = "Due to a predisposition of DNA to generate symmetric anatomy, there are no tripedal animals in nature. Yet, three-legged walking might be the sweet spot between the energy efficiency of bipeds and the stability of quadrupeds. This paper presents the non-biomimetic leg for the TriPed, a novel three-legged mobile walking robot that aims to study the advantages and disadvantages of three-legged walking. We showcase its new non-biomimetic leg design that allows for fast repositioning by keeping the leg mass close to the body. This is done using physical experiments as well as a simscape simulation. The experiments show that the legs are capable of moving about 3 m/s.",
author = "Jan Baumg{\"a}rtner and Johannes Bach and Lorenzo Masia and Essam Badreddin and Pott, {Peter P.}",
note = "Publisher Copyright: {\textcopyright} VDE VERLAG GMBH.; 18th International Conference on New Actuator Systems and Applications, Actuator 2022 ; Conference date: 28-06-2022 Through 30-06-2022",
year = "2022",
language = "English",
isbn = "9783800758944",
series = "GMM-Fachberichte",
publisher = "VDE VERLAG GMBH",
pages = "85--88",
booktitle = "Actuator 2022 - 18th International Conference on New Actuator Systems and Applications",
}
