High Torque Density Actuator
This research is focused on achieving high torque density with minimum actuator impedance for the applications with significant physical interaction with environments.
The synergetic arrangement of bones and tendons of biological system inspires a design principle that allows light, robust leg structure for high speed running.
Optimal Swing-leg Retraction
The retraction speed of the leg just before landing significantly affect the overall dynamics of the robot in stability and energetic cost.
MIT Cheetah Robot
Check newly updated Cheetah videos!