Highly dynamic robotic leg for non-biomimetic walking robots

Due to a predisposition of DNA to generate symmetric anatomy, there are no tripedal animals in nature. Yet, threelegged walking might be the sweet spot between the energy efficiency of bipeds and the stability of quadrupeds. This paper presents the non-biomimetic leg for the TriPed, a novel three-legged mobile walking robot that aims to study the advantages and disadvantages of three-legged walking. We showcase its new non-biomimetic leg design that allows for fast repositioning by keeping the leg mass close to the body. This is done using physical experiments as well as a simscape simulation. The experiments show that the legs are capable of moving about 3 m/s