Leveraging compliance in origami robot legs for robust and natural locomotion

We present an origami-inspired compliant robot leg design with three degree of freedom compliance. Using the proposed leg, we created a full quadrupedal robot that can walk robustly with adaption to non-flat terrains and external perturbations. We can reconfigure the design to change the stiffness. According to systematic locomotion tests, we demonstrate unique advantages of the proposed leg design over a rigid counterpart of the same dimension and weight in terms of enhancing locomotion stability.