2DOF link mechanism mimicking cheetahxe2x80x99s spine and leg movement A spine of a quadruped animal has compliantly connected several segments. This structure enables the animal to realize bendingstretching motion during running along with the motion of the legs. In this paper, we describe a link mechanism for mimicking such bendingstretching motion of the spine and the leg with few degrees of freedom. By designing a linkage mechanism, we try to realize a similar motion of the spine and the hind leg as that of a cheetah. We developed a prototype with such a structure and demonstrate that it can realize the similar movement of the spine and the leg as that of a cheetah with a simple control strategy.

Study on Elastic Elements Allocation for EnergyEfficient Robotic Cheetah Leg The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energyefficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a fast and energyefficient 4legged robot inspired by a cheetah morphology. In particular, we analyze how the allocation of flexible elements and their stiffness affects the cost of transport and peak power characteristics for vertical jumps and a galloping motion. The study includes the femur and full leg mechanismxe2x80x99s locomotory behavior simulation, capturing its interaction with the ground.