Abstract
Locomotion can be described as a subsequent series of stance and flight phases. In both phases the leg properties can be adapted. Here we consider spring-mass running with a linear adaptation of two leg parameters, leg angle and leg stiffness, during swing phase. The region of stability is characterized by the basin of attraction with sufficient reduction of a given perturbation within one step.The proposed swing-leg control predicts a substantial region of alternative swing leg adjustment rates. The resulting control redundancy includes different foot placement strategies which could be used to manage landing impacts and running stability in one consistent approach.
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