Leach, D.Maheshwari, N.Guenther, F.Iida, F.2012-06-282012-06-282012-06-282011https://infoscience.epfl.ch/handle/20.500.14299/82428A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the behavioural diversity of the robot.Multi-Modal ActuatorclutchbrakeVariable Impedance Actuatordynamic legged locomotionbehavioural diversityVariable impedance actuation to increase the behavioural diversity of legged robotstext::conference output::conference paper not in proceedings