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The generation of robust periodic movements of complex nonlinear robotic systems is inherently difficult, especially, if parts of the robots are compliant. It has previously been proposed that complex
Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot’s adaptability and energy efficiency. In this paper, we pr
The control of compliant robots is, due to their often nonlinear and complex dynamics, inherently difficult. The vision of morphological computation proposes to view these aspects not only as problems