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Tunable Leg Stiffness in a Monopedal Hopper for Energy-Efficient Vertical Hopping Across Varying Ground Profiles
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles (a pair of ground stiffness and damping conditions). By adj
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