Compliant Leg Design for a Quadruped Robot

摘要

We present the quadruped, compliant robot system Cheetah (Fig. 2(a)). Main features are light-weight, retractable, passive compliant two and three segmented legs. Knee joints are actuated using RC servo motors mounted proximal, force transmission is achieved by means of a Bowden cable system [1]. The leg design was loosely inspired by legs of mam-(a) Cheetah robot