A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments and force data are obtained from a Lagrangian analysis of the system. ...

We report that the cells in a natural honeybee comb have a circular shape at 'birth' but quickly transform into the familiar rounded hexagonal shape, while the comb is being built. The mechanism for this transformation is the flow of molten visco-elastic wax near the triple junction between the neighbouring circular cells. The flow may be unconstrained or constrained by the unmolten wax away fr...