ArticleNature communications2024
Electrohydraulic musculoskeletal robotic leg for agile, adaptive, yet energy-efficient locomotion.
Article in Nature communications, 2024. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 16 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
16 citing papers in PubMed.
- Electrohydraulic Folding Ring Actuators for Radially Contracting Applications.Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Article
- Versatile artificial muscles by decoupling anisotropy.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- Ecosystem-Centered Robot Design: Toward Ecoresorbable Sustainability Robots (ESRs).Advanced science (Weinheim, Baden-Wurttemberg, Germany) · 2026Review
- Deep Learning-Based Contact Force Control for a Robotic Leg.Sensors (Basel, Switzerland) · 2026Article
- Ultralight soft electrostatic actuators based on solid-liquid-gas architectures.Nature communications · 2026Article
- A method to study and enhance the energy efficiency of soft electrostatic actuators.Proceedings of the National Academy of Sciences of the United States of America · 2026Article
- Robotic leaping enhanced by thrust-induced hypogravity, achieving precise, predictable, and extended jumps.Nature communications · 2026Article
- Soft bionic actuation explains the functional role of whisking in seal whisker sensing.Npj flexible electronics · 2026Article
- Architected Soft Actuators for Artificial Musculoskeletal Systems.Advanced materials (Deerfield Beach, Fla.) · 2025Article
- Joints with angle dependent damping can help to reduce impact forces in robots.Scientific reports · 2025Article
- Template-free 3D programmable magnetization of soft millirobots induced by interlayer stress.Proceedings of the National Academy of Sciences of the United States of America · 2025Article
- Review of Electrohydraulic Actuators Inspired by the HASEL Actuator.Biomimetics (Basel, Switzerland) · 2025Review
- A self-powered soft triboelectric-electrohydrodynamic pump.Nature communications · 2025Article
- Monolithic electrostatic actuators with independent stiffness modulation.Nature communications · 2025Article
- Bridging the Gap to Bionic Motion: Challenges in Legged Robot Limb Unit Design, Modeling, and Control.Cyborg and bionic systems (Washington, D.C.) · 2025Review
- Locust-Derived Biohybrid Muscle Actuators for Low-Power Explosive Jumping.Research (Washington, D.C.) · 2025Article
Corrections and comments
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Authors and funding
13 authors.
Funding
Abstract
Robotic locomotion in unstructured terrain demands an agile, adaptive, and energy-efficient architecture. To traverse such terrains, legged robots use rigid electromagnetic motors and sensorized drivetrains to adapt to the environment actively. These systems struggle to compete with animals that excel through their agile and effortless motion in natural environments. We propose a bio-inspired musculoskeletal leg architecture driven by antagonistic pairs of electrohydraulic artificial muscles. Our leg is mounted on a boom arm and can adaptively hop on varying terrain in an energy-efficient yet agile manner. It can also detect obstacles through capacitive self-sensing. The leg performs powerful and agile gait motions beyond 5 Hz and high jumps up to 40 % of the leg height. Our leg's tunable stiffness and inherent adaptability allow it to hop over grass, sand, gravel, pebbles, and large rocks using only open-loop force control. The electrohydraulic leg features a low cost of transport (0.73), and while squatting, it consumes only a fraction of the energy (1.2 %) compared to its conventional electromagnetic counterpart. Its agile, adaptive, and energy-efficient properties would open a roadmap toward a new class of musculoskeletal robots for versatile locomotion and operation in unstructured natural environments.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.