# An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg

> Research article (The International Journal of Robotics Research, 2019) · cited 39× · AI/ML

**Wikidata**: [openalex:W2996468894](https://www.wikidata.org/wiki/openalex:W2996468894)  
**Source**: https://4ort.xyz/entity/an-efficient-leg-with-seriesparallel-and-biarticular-compliant-actuation-design-optimization-modeling-and-control-of-the