A Reconfigurable Leg for Walking Robots

We present the design of a robotic leg that can seamlessly switch between spring-suspended, and unsuspended configuration. Switching is realized by mechanism exploits alternative configuration two-link leg. The lightweight, does not require additional actuation, only relies on movement for engagement. validated performance prototype single-leg testbed investigated power consumption during standing, crouching, hopping in both configurations. experiments showed efficiency cyclic base height control better with spring-suspended However, it undermine leg’s position requires higher torque to maintain low height, where has advantages. Overall, switching ability allows selecting optimal mode specific locomotion task.