Binary passive element leg: a design framework for a legged system

Abstract

has supported and believed in me from the very first day of my graduate studies. He has been instrumental in guiding and challenging me throughout my research career, in addition to giving me the opportunity to work on extremely interesting and exciting projects. I would also like to thank all of my lab mates, including Shreyansh, Kaushik, Kruthica, Aditya, and Adarsh for their help with brainstorming, design, simulation, and consistent encouragement. I would also like to thank Prof. Rifat Sipahi serving as my mechanical engineering department co-adviser and thesis reader. Finally, none of this would be possible without the support of my parents and my brother. Throughout my life, they have always pushed me to be better and been behind me every step of the way for all the things I've wanted to achieve. viii