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Animals locomote robustly and agile, albeit significant sensorimotor delaysof their nervous system. The sensorimotor control of legged robots isimplemented with much higher frequencies-often in the kilohertz range-andsensor and actuator delays in the low millisecond range. But especially atharsh impacts with unknown touch-down timing, legged robots show unstablecontroller behaviors, while animals are seemingly not impacted. Here we examinethis discrepancy and suggest a hybrid robotic leg and controller design. Weimplemented a physical, parallel joint compliance dimensioned in combinationwith an active, virtual leg length controller. We present an extensive set ofsystematic experiments both in computer simulation and hardware. Our hybrid legand controller design shows previously unseen robustness, in the presence ofsensorimotor delays up to 60 ms, or control frequencies as low as 20 Hz, for adrop landing task from 1.3 leg lengths high and with a passive compliance ratioof 0.7. In computer simulations, we report successful drop-landings of thehybrid compliant leg from 3.8 leg lengths (1.2 m) for a 2 kg quadruped robotwith 100 Hz control frequency and a sensorimotor delay of 35 ms. The results ofour presented hybrid leg design and control provide a further explanation forthe performance robustness of animals, and the resulting discrepancy betweenanimals and legged robots.

Hybrid leg compliance enables robots to operate with sensorimotor delays and low control update frequencies