Introducing GOAT: A Legged Robot with 3D Agility & Virtual Compliance

I present GOAT, the Gearless Omni-directional Acceleration-vectoring Topology. This video shows preliminary experiments of the GOAT leg on a 1-DoF test-rig demonstrating explosive jumping maneuvers and virtual compliance during landing. GOAT is a novel 3-DoF, 3-RSR, parallel leg topology which uses direct-drive (or quasi-direct-drive) actuators and proprioceptive force sensing to achieve high fidelity virtual compliance. My thesis which details the design, analysis, and control of this jumping leg can be