One-legged hopping robots are nothing new. In most cases, they are tethered for energy and are not portable enough. Disney has unveiled a new approach for design and control of an untethered, energetically autonomous one-legged hopping robot. Called LEAP (linear elastic actuator in parallel), this mechanism consists of:
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a voice coil actuator in parallel with two compression springs, which gives our robot passive compliance. An actuated gimbal hip joint is realized by two standard servomotors
Untethered One-Legged Hopping in 3D Using Linear Elastic Actuator in Parallel (LEAP)
The robot can maintain balance for up to 7 seconds or 19 continuous hops. More information is available here.
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