Agility explains why Digit dropped Cassie's leaf springs
From @Chama1176: I love Cassie. What were the trade-offs involved in transitioning from leaf springs (in Digit 3) to rigid links (incorporating torque or force sensing?) in Digit 4?
Leaf springs are great for handling harsh impacts during a running gait, but they add complex dynamics (and of course mechanical complexity) when you’re trying to stand and manipulate things. Cassie was optimized for walking and running; Digit is optimized for locomanipulation. And now with Digit 5, the human-style
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2026-10-22