Development of A Dynamic Quadruped with Tunable, Compliant Legs
Fuchen Chen,Weijia Tao,Daniel M. Aukes,Fuchen Chen,Weijia Tao,Daniel M. Aukes
To facilitate the study of how passive leg stiffness influences locomotion dynamics and performance, we have developed an affordable and accessible 400 g quadruped robot driven by tunable compliant laminate legs, whose series and parallel stiffness can be easily adjusted; fabrication only takes 2.5 hours for all four legs. The robot can trot at 0.52 m/s or 4.4 body lengths per second with a 3.2 co...
