Series Compliance for an Efficient Running Gait.

The article discusses the development of the mechanical system of the actuator with mechanically adjustable series compliance (AMASC), a prototype leg for a running robot. It is said to be important to begin a robot design with a specification for the dynamic behavior of the machine, since the mechanical system cannot be changed easily once it is built. In this case, the actuator was designed to be equipped with mechanical springs, which will store and release kinetic energy as it follows a center-of-mass motion during a running gait. Based on the design of the AMASC, a single prototype leg of the BiMASC was designed and developed, which was eventually revised into the ECD leg.