Using Parallel Stiffness to Achieve Improved Locomotive Efficiency

with the Sandia STEPPR Robot

Anirban Mazumdar1, Steven Spencer1, Jonathan Salton1, Clinton Hobart1, Joshua Love1,

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Kevin Dullea1, Michael Kuehl1, Timothy Blada1, Morgan Quigley2,

Jesper Smith3, Sylvain Bertrand3, Tingfan Wu3, Jerry Pratt3, and Stephen Buerger1

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