Enabling robots to walk and run on yielding terrain is vital to endeavors ranging from
disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid …

Jumping animals launch themselves from surfaces that vary widely in compliance from
grasses and shrubs to tree branches. However, studies of robotic jumpers have been largely …

Legged robots can negotiate unstructured environments and have applications in education,
environmental inspection, space exploration, and cargo transportation. As a powerful form of …

Evidence from empirical literature suggests that explainable complex behaviors can be built
from structured compositions of explainable component behaviors with known properties …

Animals run robustly in diverse terrain. This locomotion robustness is puzzling because
axon conduction velocity is limited to a few tens of meters per second. If reflex loops deliver …

This study presents the development, characterization, and demonstration of a tunable
substrate for small jumping robots. Jumping robots in the literature are typically evaluated …

Achieving dynamic compliance for energy-efficient legged robot motion is a longstanding
challenge. Although recent predictive control methods based on single-rigid-body models …

Legged robot locomotion is hindered by a mismatch between applications where legs can
outperform wheels or treads, most of which feature deformable substrates, and existing tools …

We discuss an active damping controller to reduce the energetic cost of a single step or
jump of dynamic locomotion without changing the morphology of the robot. The active …

Mechanical and virtual compliance for robot locomotion in a compliant world Page 1
Mechanical and virtual compliance for robot locomotion in a compliant world Sonia Roberts …