@inproceedings{7222ffc8a5284f52903cedf7ca315951,
title = "The DLR C-runner: Concept, design and experiments",
abstract = "Legged locomotion requires highly dynamic and efficient actuation as well as robust environment interaction. In the past years soft robots with elastic actuation have been investigated and their fitness for cyclic tasks and safe and robust environment interaction has been shown. To evaluate the benefits and drawbacks of series elastic actuation, variable impedance actuation as well as multi-articular elastic coupling in legged locomotion, we developed a two legged human size test-bed. These modular robotic legs give the possibility to evaluate and directly compare different elastic actuation concepts on a single system. Hopping and bipedal modal motion experiments where performed to proof the concept.",
author = "Florian Loeffl and Alexander Werner and Dominic Lakatos and Jens Reinecke and Sebastian Wolf and Robert Burger and Thomas Gumpert and Florian Schmidt and Christian Ott and Markus Grebenstein and Alin Albu-Sch{\"a}ffer",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 ; Conference date: 15-11-2016 Through 17-11-2016",
year = "2016",
month = dec,
day = "30",
doi = "10.1109/HUMANOIDS.2016.7803359",
language = "English",
series = "IEEE-RAS International Conference on Humanoid Robots",
publisher = "IEEE Computer Society",
pages = "758--765",
booktitle = "Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots",
}