Figure 6
From: Design of topology optimized compliant legs for bio-inspired quadruped robots
Compliant legs synthesized by using different spring positions \(h_{joint}\): (a) The optimized leg shapes, (b) FEM-calculated actuation force (in N) for the realized legs, (c) FEM-calculated relationship between \(s_a\) and the induced \(u_{tip,x}\) for the realized legs, (d) FEM-calculated relationship between \(u_{tip,x}\) and \(u_{tip,y}\) during the two-stage bending motion of the legs.
