| 主权项 |
1. A robot incorporating passive dynamics for legged locomotion on a surface, comprising:
first and second extendable legs each having opposing first and second ends; first and second leg motors each coupled to the first extendable leg, the motors operable to swing the first leg about the first end and extend or retract the first leg along a leg length direction; at least one leg spring disposed in series between the leg motors and the first leg, the at least one leg spring configured to store energy therein during a touchdown part of a stance and configured to recover the stored energy during a liftoff part of the stance to provide passive dynamic locomotion; one or more sensors configured to measure a torque in the leg angle direction of the first leg proximate the first end thereof and configured to measure a force in the leg length direction of the first leg; and a controller in communication with the sensor and the motors, the controller configured to constrain the second end of the first leg to a column above a specified contact area of the surface at which the second end of the first leg is to be placed on touchdown. |
