Analysis and Design of a 1-DOF Leg for Walking Machines
نویسندگان
چکیده
In this paper the kinematic analysis and design are presented for a 1DOF (Degree-of-Freedom) pantograph-leg for walking machines. A preliminary prototype of a low-cost leg, which is capable of a straight walking with only one actuator, has been designed and built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Simulation and experimental validation have been carried out to verify the operation of the prototype.
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