We present a new open-source torque-controlled legged robot system, with a low-cost and
low-complexity actuator module at its core. It consists of a high-torque brushless DC motor …

This paper presents a review of biological mechanical linkage mechanisms. One purpose is
to identify the range of kinematic functions that they are able to perform. A second purpose is …

The physical characteristics of animals' bodies are substantially different from those of
classic robots. Elastic tendons, ligaments, and muscles enable animals to robustly interact …

Legged robots are very promising for use in real-world applications, but their operation in
narrow spaces is still challenging. One solution for enhancing their environmental …

Lightweight structures comprise of actual pieces or segments that give the crucial ability to
function while weighing less than other possibilities as well. The aerospace industry …

Animals achieve agile locomotion performance with reduced control effort and energy
efficiency by leveraging compliance in their muscles and tendons. However, it is not known …

Designers of legged robots are challenged with creating mechanisms that allow energy-
efficient locomotion with robust and minimalistic control. Sources of high energy costs in …

We investigate the role of lower leg muscle-tendon structures in providing serial elastic
behavior to the hip actuator. We present a leg design with physical elastic elements in leg …

In this work, we provide a simulation framework to perform systematic studies on the effects
of spinal joint compliance and actuation on bounding performance of a 16-DOF quadruped …

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous
system and the harsh loading conditions resulting from repeated, high-frequent impacts. The …