The Actuator with Mechanically Adjustable Series Compliance (AMASC) is designed for use in the BiMASC, a highly dynamic legged robot. It has fiberglass springs with a large energy storage capacity. The mechanism has two motors, one for moving the position of the knee and the other for controlling the stiffness felt at the knee. These two parameters, along with the hip angle, are used for control of a running gait.

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CAD Models

You can download a complete set of CAD files (SolidWorks) for the robot. With these files, you can have all of the parts of the robot machined.