The robot has an articulated leg composed of three links and uses two hydraulic actuators as muscles and linear springs as tendons. The mass of the leg is 3.6 kg. Individual masses of the thigh, shank, and foot are 2.42 kg, 0.75 kg, and 0.43 kg, respectively.
In this video KenKen is running toward 1.5[m/s].
2003
Tokyo Institute of Technology
Japan
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