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

28 October 2021

00:57

We are exploring the advantages of biarticular elastic connectivity in the mid-segment of a three-segmented 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