Ascento Leg Geometry

Ascento has two legs which can be controlled independently by two motors installed in the hips. The geometry of its legs is a 4-bar linkage, optimized such that it moves in a straight line using only one motor. This enables Ascento not only to lean into curves and change its center of gravity, but also to do straight jumps. Torsional springs in the knees compensate the robots own weight and alleviate the hip motors.