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. 2022 Aug 29;9:874290. doi: 10.3389/frobt.2022.874290

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Copyright © 2022 Zhao, Wu, You, Laurenzi and Tsagarakis.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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The slack factor ϵ of continuous torque limits in the variable stiffness locomotion. (A) ϵ for the leg LF. (B) ϵ for the leg RF. (C) ϵ for the leg LB. (D) ϵ for the leg RB.