Series Elastic Behavior of Biarticular Muscle-Tendon Structure in a Robotic Leg - Robustness

5 November 2021

04:39

We are researching the advantages of biarticular elastic connectivity in a three-segmented robot leg. The biarticular leg shows, to the best of our knowledge, the lowest achieved relative cost of transport documented for dynamically hopping and running robots; the biart-leg hops with a cost of transport that is 64% lower than an average natural runner of comparable weight. Published article: https://www.frontiersin.org/articles/10.3389/fnbot.2019.00064