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• Authors:
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  Hutter, M.; Holenstein, C.; Fenner, D.; Remy, C. D.; Hoepflinger, M. A.; Siegwart, R.

This paper investigates the mechanical benefits of employing a passive foot segment to improve energetic efficiency in legged running. The proposed lightweight design significantly reduces impact and damping losses, while simultaneously allowing for a natural-looking stance configuration. Actuator in- put and ankle spring properties were optimized in simulation and successfully tested in 2D running experiments.