CHARLI-2 (Deconstructed)

Continuing on from the previous success of the CHARLI-L, Dennis Hong lead the development of the CHARLI-2. One of the more noteable mechanical design differences was the loss of the Four-bar linkage/stretched-spring-configuration, the adoption of simple 1:3 pinion-gear about major DOF's of the legs, the reduction of overall weight & the considerable improvements in both walking speed & gait. Again, CHARLI-2 has many experiment, test & resulting analysis documented containing a wealth of information free to study.