Cheetah-cub leg design, spring loaded pantograph legs

Work at Biorob / EPFL; the video shows the spring loaded pantograph leg design of Cheetah-cub robot. Trough gravity-compensating springs in the legs, no motor actuation is required during standing and stance phase.

Published in: Spröwitz, A.; Tuleu, A.; Vespignani, M.; Ajallooeian, M.; Badri, E.; Ijspeert, A. J.: Towards Dynamic Trot Gait Locomotion: Design, Control, and Experiments with Cheetah-cub, a Compliant Quadruped Robot. The International Journal of Robotics Research 32 (8), pp. 932-950 (2013)

Видео Cheetah-cub leg design, spring loaded pantograph legs канала Dynamic Locomotion Group