Design of a Robot Leg Inspired by Mammalian Locomotion Types Using Spring-Tendon Mechanisms for Efficient Running

This paper presents the design of a biomimetic robotic leg inspired by mammalian locomotion types, to achieve efficient running. The study highlights the significance of the metatarsophalangeal (MTP) joint and long tendons in energy recovery and efficient locomotion. The proposed robotic leg incorporates an active MTP joint and a spring-tendon system to mimic the energy-recycling mechanisms observed in mammals, such as kangaroos and cheetahs. The design aims to optimize energy efficiency by reducing ground impact energy loss and enhancing dynamic mobility. The mechanical design includes a flexible ankle joint and a spring-cable tendon system, which work in tandem to store and release energy during the stance phase of locomotion. Experimental results demonstrate the effectiveness of the proposed design in achieving efficient running, with significant improvements in energy recovery and dynamic performance. This research contributes to the advancement of legged robotics by providing a biologically inspired solution for efficient and agile locomotion.