Cassie was the first project of Morfey Limited, and was done in collaboration with Agility Robotics and Oregon State University. Cassie is capable of efficient dynamic locomotion on a variety of terrains. In addition to research, applications include search and rescue, assisted mobility for the disabled, and package delivery
The design of this robot was very much a joint effort but basically I designed the legs from the hip pitch actuator downward. The legs have mechanical springs with large energy storage capacity and a novel geometry which maximises efficiency by minimising internal energy loops. The actuators are based around custom-designed transmissions with high efficiency and backdriveability.
Images and video courtesy of Agility robotics and Oregon State University