Fig. 9
From: TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking

Wire driven mechanism which is comprised of a brushless DC geared motor, spur gears, two wires, and input and output pulleys
From: TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking
Wire driven mechanism which is comprised of a brushless DC geared motor, spur gears, two wires, and input and output pulleys