The thesis represents a development on the idea of a highly dynamic design and compliant leg structure, allowing for legged locomotion that resembles a running movement of biological animals. One leg solution is presented, which can be used as a blueprint for the full scale quadruped robot design. It is being argued that the three-link design and tight integration of different compliance principles, as presented further, will lead to better dynamics in comparison to the current solutions. Feasibility of such design will be proven in respect to minimisation of inertia and allowing independent control of each link. Furthermore, important concepts of contact force control, leg compliance and the way of its in-design integration will be introduced. The leg has been manufactured and some of the underlying principles were tested. It represents an important foundation for future research and development.
