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In this paper, the effect of non-linear leg springs on disturbance rejection behavior is investigated. The optimal leg stiffness profile is determined by optimizing the gait sensitivity norm, a measure for disturbance rejection. The results of this optimization show that the optimal leg stiffness profile is strongly non-linear, and that the disturbance rejection is a factor of seven better than it would be with the optimal linear leg stiffness. The cause for this great improvement is that non-linear leg springs allow stable limit cycles that are much further away from the fall modes.<\/jats:p>","DOI":"10.1177\/0278364911408631","type":"journal-article","created":{"date-parts":[[2011,9,2]],"date-time":"2011-09-02T21:36:22Z","timestamp":1314999382000},"page":"1585-1595","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":35,"title":["Running with improved disturbance rejection by using non-linear leg springs"],"prefix":"10.1177","volume":"30","author":[{"given":"JG Dani\u00ebl","family":"Karssen","sequence":"first","affiliation":[{"name":"Delft University of Technology, Delft, Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Martijn","family":"Wisse","sequence":"additional","affiliation":[{"name":"Delft University of Technology, Delft, Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2011,9,2]]},"reference":[{"key":"bibr1-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.878935"},{"key":"bibr2-0278364911408631","volume-title":"Elastic Mechanisms in Animal Movement","author":"Alexander R","year":"1988"},{"key":"bibr3-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"bibr4-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1007\/BF00197760"},{"key":"bibr5-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1152\/ajpregu.1977.233.5.R243"},{"key":"bibr6-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905054929"},{"key":"bibr7-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.202.23.3325"},{"key":"bibr8-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1137\/050626594"},{"key":"bibr9-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.904908"},{"key":"bibr10-0278364911408631","first-page":"217","volume":"1","author":"H\u00fcrm\u00fczl\u00fc Y","year":"1986","journal-title":"Dynamical Systems"},{"key":"bibr11-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.927693"},{"key":"bibr12-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(99)00151-7"},{"key":"bibr13-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"bibr14-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(90)90042-2"},{"key":"bibr15-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470400058X"},{"key":"bibr16-0278364911408631","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2007.p0374"},{"key":"bibr17-0278364911408631","author":"Owaki D","year":"2009","journal-title":"Dynamic Walking 2009"},{"key":"bibr18-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2009.2024565"},{"key":"bibr19-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067309"},{"key":"bibr20-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"bibr21-0278364911408631","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095136"},{"key":"bibr22-0278364911408631","first-page":"3540","volume-title":"Intelligent Robots and Systems, 2004.(IROS 2004). 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