Abstract
A model of a passive-dynamic robot which is hypothesized to be capable of walking and running is presented. This model has been selected to match closely with a physical robot currently in construction, for the purpose of furthering the state-of-the-art in legged machines which locomote efficiently based on passive-dynamic principles. A novel actuator called the Variable Stiffness Series Elastic Actuator (VSSEA) is also introduced. Its design and advantages are briefly discussed.
