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A twelve degree of freedom lower-body humanoid robot with force controllable series elastic actuators at each degree of freedom. The robot has 3 degrees of freedom in each hip, one in each knee, and two in each ankle. Linear Series Elastic Actuators with brushless DC motors are used at each joint. These actuators allow for high fidelity force control, which enables low impedance control methods. The robot does not have any upper-body degrees of freedom as its main role is in bipedal walking rese
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