Abstract: In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal ...

Abstract: This paper presents a simplistic passive dynamic model that is able to create realistic quadrupedal walking, tأ¶lting, and trotting motions. The model is inspired by the bipedal spring loaded inverted pendulum (SLIP) model ...