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This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to create an efficient running behavior. High spring compliance with low damping in combination with a cascaded, motor velocity based, control structure was successfully tested in simulation and experiments. Final tests with the entire leg demonstrate that the system can perform a hopping motion providing only positive actuator power. 1.
Hutter et al. (2011) studied this question.