Antonios-Emmanouil Gkikakis

Balancing and Hopping With a Ring Screw Actuation on One Leg

This letter presents the prototype of a human-sized, untethered athletic hopping and balancing underactuated monopedal robot designed to withstand crash landings. Experimental results in 2D of the robot balancing on an unstable contact point, hopping vertically, landing back, and balancing within a