Energy-Efficient Quadruped Locomotion with Compliant Feet

ArXi:2605.14411v1 Announce Type: cross Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse d elastic energy, leading to higher energy expenditure during locomotion. To explore whether compliant feet can provide an advantage, we integrate foot compliance into a reinforcement learning (RL) locomotion controller and study its effect on walking efficiency.