{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,3]],"date-time":"2026-05-03T02:45:41Z","timestamp":1777776341822,"version":"3.51.4"},"reference-count":153,"publisher":"Emerald","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017,3,20]]},"abstract":"<jats:p>Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner of the world. On land, legged morphologies have evolved to manifest magnificent mobility over a wide range of surfaces. From the ability to use footholds for navigating a challenging mountain pass, to the capacity for running on a sandy beach, the adaptability afforded through legs motivates their prominence as the biologically preferred method of ground transportation. Inspired by these achievements in nature, robotics engineers have strived for decades to achieve similar dynamic locomotion capabilities in legged machines. Learning from animals\u2019 compliant structures and ways of utilizing them, engineers developed numerous novel mechanisms that allow for more dynamic, more efficient legged systems. These newly emerging robotic systems possess distinguishing mechanical characteristics in contrast to manufacturing robots in factories and pave the way for a new era of mobile robots to serve our society. Realizing the full capabilities of these new legged robots is a multi-factorial research problem, requiring coordinated advances in design, control, perception, state estimation, navigation and other areas. This review article concentrates particularly on the mechanical design of legged robots, with the aim to inform both future advances in novel mechanisms as well as the coupled problems described above. Essential technological components considered in mechanical design are discussed through historical review. Emerging design paradigms are then presented, followed by perspectives on their future applications.<\/jats:p>","DOI":"10.1561\/2300000044","type":"journal-article","created":{"date-parts":[[2017,3,20]],"date-time":"2017-03-20T07:30:08Z","timestamp":1489995008000},"page":"117-190","source":"Crossref","is-referenced-by-count":74,"title":["Design of Dynamic Legged Robots"],"prefix":"10.1108","volume":"5","author":[{"given":"Sangbae","family":"Kim","sequence":"first","affiliation":[{"name":"Massachusetts Institute of Technology ,","place":["United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Patrick M.","family":"Wensing","sequence":"additional","affiliation":[{"name":"Massachusetts Institute of Technology ,","place":["United States"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2017,3,20]]},"reference":[{"key":"2026040113114713300_ref001","doi-asserted-by":"crossref","first-page":"291","DOI":"10.1007\/3-540-45118-8_30","article-title":"Evidence for spring loaded inverted pendulum running in a hexapod robot","volume":"271","author":"Altendorfer","year":"2001","journal-title":"Experimental Robotics VII"},{"issue":"4","key":"2026040113114713300_ref002","doi-asserted-by":"crossref","DOI":"10.1088\/1748-3182\/7\/4\/046005","article-title":"Towards a bio-inspired leg design for high-speed running","volume":"7","author":"Ananthanarayanan","year":"2012","journal-title":"Bioinspiration & Biomimetics"},{"issue":"2","key":"2026040113114713300_ref003","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1007\/s11370-014-0147-9","article-title":"Quadruped robot trotting over irregular terrain assisted by stereo vision","volume":"7","author":"Bazeille","year":"2014","journal-title":"Intelligent Service Robotics"},{"key":"2026040113114713300_ref004","first-page":"441","article-title":"Design and control of ranger: an energy-efficient, dynamic walking robot","volume-title":"CLAWAR 2012 - Proceedings of the 15th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines","author":"Bhounsule","year":"2012"},{"issue":"9","key":"2026040113114713300_ref005","doi-asserted-by":"crossref","first-page":"1665","DOI":"10.1242\/jeb.01520","article-title":"Biomechanical consequences of scaling","volume":"208","author":"Biewener","year":"2005","journal-title":"Journal of Experimental Biology"},{"issue":"11-12","key":"2026040113114713300_ref006","doi-asserted-by":"crossref","first-page":"1217","DOI":"10.1016\/0021-9290(89)90224-8","article-title":"The spring-mass model for running and hopping","volume":"22","author":"Blickhan","year":"1989","journal-title":"Journal of Biomechanics"},{"issue":"3","key":"2026040113114713300_ref007","doi-asserted-by":"crossref","first-page":"223","DOI":"10.1016\/0021-9290(92)90022-S","article-title":"Mechanical analysis of the landing phase in heel-toe running","volume":"25","author":"Bobbert","year":"1992","journal-title":"Journal of Biomechanics"},{"key":"2026040113114713300_ref008","unstructured":"Boston Dynamics\n          . 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