Effects of torsional stiffness, knee angle, and link ratio on the design of a biologically inspired mobile robot with two-segment legs

Abstract

In this study we discuss two-segment leg's parameters, torsional stiffness, knee angle, and link ratio, for a biologically inspired terrestrial robot with four legs. Each leg has two-segment links and a passive joint. Simulation results then verify soft leg's effectiveness compared to a robot with stiff legs.