Leg design for running and jumping dynamics

Dynamic legged robots are capable of a wide range of behaviors, such as running, climbing, and jumping. Often the leg morphology and compliance are tailored to these specific behaviors. In this paper, we examine the design modifications to a 5-bar closed-loop kinematic leg design that enable both fast, stable running as well as energetic jumping. After investigating the running and jumping dynamics of the 5-bar leg design, control was implemented to transition between the desired configurations for each dynamic behavior in order to produce a desired maximum obstacle negotiation.