Analysis of Stiffness and Energy Consumption of Nonlinear Elastic Joint Legged Robot

Table 1

Nonlinear elastic joint mechanism diagram parameters and meaning.

Parameter	Definition
	Joint ground angle
	Joint and torsion spring contact angle
	The main torsion spring stiffness
	The secondary torsion spring stiffness
	Body length
	Half body length
	Output torque
	The moment of inertia of body
	Body mass