We developed a 0.49 m tall, about 2kg anthropomorphic bipedal robot with Soleus and Gastrocnemius muscle-tendon units represented by linear springs, acting as mono- and biarticular elastic structures around the robot’s ankle and knee joints. We found that the Soleus spring-tendon modulates the robot’s speed and energy efficiency likely by ankle power amplification. The Gastrocnemius spring-tendon changes the movement coordination between ankle and knee joints during push-off [].
We developed a 0.49 m tall, about 2kg anthropomorphic bipedal robot with Soleus and Gastrocnemius muscle-tendon units represented by linear springs, acting as mono- and biarticular elastic structures around the robot’s ankle and knee joints. We found that the Soleus spring-tendon modulates the robot’s speed and energy efficiency likely by ankle power amplification. The Gastrocnemius spring-tendon changes the movement coordination between ankle and knee joints during push-off [].
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