# Design and Experimental Validation of a Novel Parallel Compliant Ankle for Quadruped Robots

## TL;DR

This paper introduces a new compliant ankle design for quadruped robots that improves stability and energy efficiency.

## Contribution

A novel compliant ankle structure with three passive degrees of freedom is designed and experimentally validated for quadruped robots.

## Key findings

- The ankle structure maintains stability even during unreliable foot-ground interactions.
- The proposed design enables smoother forward stepping with motion trajectories closer to planned ones.
- The parallel topology reduces joint driving torque, improving energy efficiency.

## Abstract

In this study, a novel compliant ankle structure with three passive degrees of freedom for quadruped robots is presented. First, this paper introduced the bionic principle and structural implementation method of the passively compliant ankle, with a particular focus on the configuration and working principle of the elastic adjustment element. Then, the kinematic model of the ankle and mathematic model of the elastic element, comprising mechanical and pneumatic model, was established by using appropriate theory. Finally, a test rig of the ankle was carried out to verify its actual function. The research results show that: (1) The ankle structure demonstrates excellent stability, maintaining its upright posture even under unreliable foot–ground interactions. (2) Compared to traditional structure, the single-leg module incorporating the proposed design exhibits smoother forward stepping under an appropriate pre-inflation pressure, with its actual motion trajectory showing closer agreement with the planned one; (3) The parallel topology enables a notable reduction in the driving torque of each joint in the leg during motion, thereby improving the energy efficiency of robots.