... have attracted much more interest from the research community and several prototypes have been built. Nevertheless, only a handful of prototypes are currently known. It is the aim of this paper to present a methodology that is able to generate thousands of self-adaptive robotic fingers driven...

... and biarticular joint actuation schemes and examine the effects of spring stiffness and activation angle on overall jump performance. Both numerical simulations and experiments with a hardware prototype of a biarticular legged robot are reported. Although recent biped robots have displayed impressive movement...

..., no comprehensive understanding of an optimal design exists. This paper presents a new analytical basis for maximizing an SEA thrust performance for jumping from rest with an articulated leg. The analytical SEA model is validated with simulation and experimental results from a prototype leg. An SEA decouples...