Some of the work presented in this thesis expands on two earlier publications documenting this research. The first is a conference paper “Programmable Springs: Developing Compliant Actuators for Autonomous Robots” and was presented at the “Towards Autonomous Robotic Sys-tems» (TAROS) conference in 2006, where it received the Springer books best paper award. The second publication is an extended version of this first paper, published in the Journal of Robotics and Autono-mous Systems in 2007, and entitled “Programmable springs: Developing actuators with programmable comp-liance for autonomous robots”. The term ‘Programmable Spring’ is not entirely appropriate for the system I have developed during the course of this thesis, but it has established itself as catchy term for refer-ring to my research. More appropriate descriptions might be ‘Mechanical Systems Emulator’, ‘Programmable Compliance Actuator’ or ‘Programmable Spring Damper’, but these are less catchy and I suspect the original term will persist.

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