Take another look at robotic locomotion and morphology!

Selecting gaits for economical locomotion of legged robots

This paper explores the benefits of using multiple gaits in a single robot.

Weitao Xi, Yevgeniy Yseilevskiy, C. David Remy
Sage journals

 

Research on the simultaneous optimization of motion and morphology; comparing different actuators in legged robots:

A comparison of series and parallel elasticity in a Monoped hopper

Optimal configuration of series and parallel elasticity in a 2D Monoped

The video of the comparison: