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Legged locomotion in humans is governed by natural dynamics of the human bodyand neural control. One mechanism that is assumed to contribute to the highefficiency of human walking is the impulsive ankle push-off, which potentiallypowers the swing leg catapult. However, the mechanics of the human lower legwith its complex muscle-tendon units spanning over single and multiple jointsis not yet understood. Legged robots allow testing the interaction betweencomplex leg mechanics, control, and environment in real-world walking gait. Wedeveloped a 0.49m tall, 2.2kg anthropomorphic bipedal robot with Soleus andGastrocnemius muscle-tendon units represented by linear springs, acting asmono- and biarticular elastic structures around the robot's ankle and kneejoints. We tested the influence of three Soleus and Gastrocnemius spring-tendonconfigurations on the ankle power curves, the coordination of the ankle andknee joint movements, the total cost of transport, and walking speed. Wecontrolled the robot with a feed-forward central pattern generator, leading towalking speeds between 0.35m/s and 0.57m/s at 1.0Hz locomotion frequency, at0.35m leg length. We found differences between all three configurations; theSoleus spring-tendon modulates the robot's speed and energy efficiency likelyby ankle power amplification, while the Gastrocnemius spring-tendon changes themovement coordination between ankle and knee joints during push-off.

Gastrocnemius and Power Amplifier Soleus Spring-Tendons Achieve Fast Human-like Walking in a Bipedal Robot