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But if you added (say) a spring into the linkages, the rest-position could be tuned mechanically to be more energy efficient (e.g: zero power). The effect of the spring could be backed out in software.

But it's not until people have played with the use-cases, etc, that one really needs to think about efficiency in terms of battery life.

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But if you added (say) a spring into the linkages, the rest-position could be tuned mechanically to be more energy efficient (e.g: zero power).

That might help with one particular gait, but I think it wouldn't give as much benefit for a system as flexible as this, which can run, hop, trot, and more.

And the spring itself would need to be modeled, and would make the position and force measurements less sensitive. That's why I don't think it would be a net win.

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