Abstract: Humans and animals adapt their leg impedance during running for both internal (e.g., loading) and external (e.g., surface) changes. To date, the mechanical complexity of designing usefully robust tunable passive compliance ...

Abstract: Animal legs are capable of a tremendous breadth of distinct dynamic behaviors. As robots pursue this same degree of flexibility in their behavioral repertoire, the design of the power transition mechanism from joint to ...

Abstract: Animal legs are capable of a tremendous breadth of distinct dynamic behaviors. As robots pursue this same degree of flexibility in their behavioral repertoire, the design of the power transition mechanism from joint to ...

Abstract: Over its lifetime, the hexapedal robot RHex has shown impressive performance. Combining preflexes with a range of control schemes, various behaviors such as leaping, running, bounding, as well as running on rough terrain ...