Overall, our studies provided novel leg control and design principles for legged robots to traverse granular environments like deserts, debris, and Martian soil.

Apr 25, 2025 · To this end, this article presents a biomimetic and energy-efficient design for bipedal robots’ legs and extensively demonstrates its performance on the developed prototype.

Nov 23, 2022 · Here, we present a robotic leg prosthesis that replicates the key biomechanical functions of the biological knee, ankle, and toe in the sagittal plane while matching the weight, …

Abstract—In this paper, we present the design and perfor-mance evaluation of a bipedal robot that utilizes the Hybrid Leg mechanism. It is a leg mechanism that achieves 6 DOF with a …

This paper proposes a novel mechanical design to integrate compliancy into robot legs based on tensegrity - a structural principle that combines flexible cables and rigid elements to balance …

Aug 4, 2023 · And the smart design could efficiently improve the performance of a robotic leg. Inspired by the simplified human leg structure, we present a 3-DOF robotic leg—OmniLeg, that …

In this paper, we present a constructive framework for robot leg design, which tries to take advantage of the positive factors of both aforementioned approaches.

Sep 17, 2018 · In this paper, we present a constructive framework for robot leg design which tries to take advantage of the positive factors of both aforementioned approaches.

The effort of this thesis was to to build and test a robotic leg for controls experiments and a free swinging underactuated robot leg and test bench was successfully designed, constructed, and …

Jun 15, 2025 · To achieve an optimal design of the robotic leg mechanism, this study formulates three evolutionary-based optimization problems, each addressing a specific design criterion.