An actuator with physically variable stiffness for highly dynamic legged locomotion

Running is a complex dynamical task which places strict design requirements on both the physical components and software control systems of a robot. This paper explores some of those requirements and illustrates how a variable compliance actuation system can satisfy them. We present the design, analysis, simulation, and benchtop experimental validation of such an actuator system. We demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.