Fig. 13From: TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walkingCo-axial tensioner shaft. a The overview of the co-axial tensioner shaft. The white part is the outer shaft and the gray part is the core shaft which penetrate the outer shaft. b The cross section of the co-axial tensioner shaft. The outer shaft and the core shaft are connected by one-way clutch and only rotate one direction which increases tension of the wireBack to article page