Abstract: This paper proposes a design and modeling of a trapezoidal leaf spring actuator (TLSA) with variable stiffness. The mechanical mechanism of the actuator for stiffness adjustment consists of ...

In this video, we model a catenary curve using a mass-spring system, showing how a chain-like shape can emerge from discrete masses connected by springs. We connect the simulation to real physics, ...

Abstract: This paper describes the development, modeling and simulation of a quadruped robot, with an emphasis on generating stable walking patterns through kinematic control and dynamic analysis. The ...