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Here, we demonstrate an avian-inspired robot leg design, BirdBot, that challenges the reliance on rapid feedback control for joint coordination and replaces active control with intrinsic, mechanical coupling, reminiscent of a self-engaging and disengaging clutch. A spring tendon network rapidly switches the leg\u2019s slack segments into a loadable state at touchdown, distributes load among joints, enables rapid disengagement at toe-off through elastically stored energy, and coordinates swing leg flexion. A bistable joint mediates the spring tendon network\u2019s disengagement at the end of stance, powered by stance phase leg angle progression. We show reduced knee-flexing torque to a 10th of what is required for a nonclutching, parallel-elastic leg design with the same kinematics, whereas spring-based compliance extends the leg in stance phase. These mechanisms enable bipedal locomotion with four robot actuators under feedforward control, with high energy efficiency. The robot offers a physical model demonstration of an avian-inspired, multiarticular elastic coupling mechanism that can achieve self-stable, robust, and economic legged locomotion with simple control and no sensory feedback. The proposed design is scalable, allowing the design of large legged robots. BirdBot demonstrates a mechanism for self-engaging and disengaging parallel elastic legs that are contact-triggered by the foot\u2019s own lever-arm action.<\/jats:p>","DOI":"10.1126\/scirobotics.abg4055","type":"journal-article","created":{"date-parts":[[2022,3,16]],"date-time":"2022-03-16T17:59:05Z","timestamp":1647453545000},"source":"Crossref","is-referenced-by-count":97,"title":["BirdBot achieves energy-efficient gait with minimal control using avian-inspired leg clutching"],"prefix":"10.1126","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3864-7307","authenticated-orcid":true,"given":"Alexander","family":"Badri-Spr\u00f6witz","sequence":"first","affiliation":[{"name":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7818-8064","authenticated-orcid":true,"given":"Alborz","family":"Aghamaleki Sarvestani","sequence":"additional","affiliation":[{"name":"Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, Stuttgart, Germany."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8249-3854","authenticated-orcid":true,"given":"Metin","family":"Sitti","sequence":"additional","affiliation":[{"name":"Physical Intelligence Department, Max Planck Institute for Intelligent Systems, Stuttgart, Germany."},{"name":"Institute for Biomedical Engineering, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland."},{"name":"School of Medicine and College of Engineering, Ko\u00e7 University, Istanbul, Turkey."}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8584-2052","authenticated-orcid":true,"given":"Monica A.","family":"Daley","sequence":"additional","affiliation":[{"name":"Department of Ecology and Evolutionary Biology, University of California, Irvine, CA, USA."},{"name":"Royal Veterinary College, London, UK."}]}],"member":"221","reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21887"},{"key":"e_1_3_2_3_2","doi-asserted-by":"crossref","unstructured":"F. 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