Natural control of spring-like running : Optimised selfstabilisation

In this study, the influence of leg rotation during the swing phase on the stability of running is addressed. Therefore, conservative spring-mass running was investigated using a return map of the apex height. A fixed angle of attack can already result in selfstabilised running as found previously. By examining the return maps of all possible angles of attack, a rotational leg control is derived adjusting a desired trajectory within one step and optimising running stability.