Meyer, FriedrichSpröwitz, AlexanderLungarella, MaxBerthouze, Luc2010-02-062010-02-062010-02-06200410.1109/IROS.2004.1389404https://infoscience.epfl.ch/handle/20.500.14299/46487We describe a simple and low-cost humanoid leg design with compliant joints and springy feet. Mechanical compliance is achieved by combining visco-elastic material with metal. Joints and feet characteristics are evaluated by repeatedly dropping the system from a fixed height. Different joint configurations (silicone rubber, latex and brass) and foot compliance are examined, and additional data are obtained with a Lagrangian analysis of the system. We show that compliance not only reduces impact forces, but also induces smoother joint trajectories.compliant foot designcompliant leghoppertext::conference output::conference proceedings::conference paper