The roles of biological springs in vertebrate animals and their implementations in compliant
legged robots offer significant advantages over the rigid legged ones in certain types of …

This paper provides an overview about StarlETH: a compliant quadrupedal robot that is
designed to study fast, efficient, versatile, and robust locomotion. The platform is driven by …

Spring-like leg behavior is found in both humans and animals when running. In a spring-
mass model, running proves to be self-stable in terms of external perturbations or variations …

Drawing inspiration from nature, this paper introduces and compares two compliant robotic
legs that are able to perform precise joint torque and position control, enable passive …

In this paper we present the system design of a machine that we have constructed to study a
quadrupedal gallop gait. The gallop gait is the preferred high-speed gait of most cursorial …

Featuring small size, low weight and high energy density, the hydraulic system driven by
gasoline engine is an ideal solution for the actuation system of large quadruped robots. This …

The realization of a high-speed running robot is one of the most challenging problems in
develo** legged robots. The excellent performance of cheetahs provides inspiration for …

In human and animal running spring-like leg behavior is found, and similar concepts have
been demonstrated by various robotic systems in the past. In general, a spring-mass model …

High-speed legged locomotion pushes the limits of the most challenging problems of design
and development of the mechanism, also the control and the perception method. The …

Currently, the body balance control algorithm of a quadruped robot executing trot gait motion
is more complex and computationally intensive, which is not conducive to improving the real …