Mar 2, 2017
(via https://www.youtube.com/watch?v=JzmcN9MGgIA) The springiness of RHex's legs is due to their mechanical design. In every step, the legs store energy during compression in the first part of stance and then release some of that energy during the second part of stance. While the specific design of the legs has changed through the years, every iteration of RHex has included mechanically springy legs.http://kodlab.seas.upenn.edu/Haldunk/ISER2000