Central to the design of a legged system is the mechanical design of the leg itself. Legs are the elements that exert forces on the body to propel the body forward for transport, to counteract gravitational loading, and to keep the body in an upright posture. Most legs designed for legged machines are intended to be rigid, yet animals have legs that deform substantially under load. Compliance in legs can improve efficiency, reduce maximum loading, and simplify control. This paper compares various types of elastic storage mechanisms and considers the design of legs that use them.
KeywordsHydraulic Actuator Rotary Joint Unsprung Mass Deform Elastically Elastic Storage
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