Carl : a Compliant Articulated Robot Leg Fordynamic

We describe a new Compliant Articulated Robot Leg, CARL, which we constructed as a prototype for an autonomous robot quadruped. The leg is designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m=s. It is an anthropomorphic (articulated) 3 DOF design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It employs electric actuation instead of hydraulics for indoor power autonomy, improved modeling, control and reliability. To minimize leg mass, CARL features an AnTagonistic LADD Actuation System (ATLAS) to convert motor power to high joint torques eeciently and at substantial weight savings compared to traditional transmissions. Energy eeciency will further rely on compliant operation, possible through new elastomer torsional springs at ankle, knee and hip joints.