Kinematic Analysis of a Legged Walking Robot Based on Four-bar Linkage and Jansen Mechanism

Kinematic and Gait Analysis Implementation of an Experimental Radially Symmetric Six-Legged Walking Robot

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

A biologically inspired four legged walking robot

kinematic and gait analysis implementation of an experimental radially symmetric six-legged walking robot

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

Aramies: a Four-legged Climbing and Walking Robot

This article describes the four-legged walking integration study ARAMIES and the developed control software approach. Furthermore, we analyze a first walking experiment carried out. We explain how CPG-like rhythmic motion patterns can be produced on the basis of Bezier-splines, resulting in a very simple and flexible way to produce complex walking trajectories which can be modulated in phase, f...

Dynamic Behavior Analysis of a Planar Four-bar Linkage with Multiple Clearances Joint

 In practice, clearances in the joints are inevitable due to tolerances, and defects arising from design and manufacturing. In the presence of clearance at a joint, a mechanism gains some additional, uncontrollable degrees of freedom which are the source of error. Moreover, joints undergo wear and backlashes and so cannot be used in precision mechanisms. In this study, the dynamic behaviour of ...