Affiliation:
1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China
Abstract
An untraditional application of the four-link RCCR (two revolute and two cylindric joints) mechanism is presented in this paper and is used as a novel biped walking mechanism. By taking advantage of the singular configuration of the mechanism, two actuators are employed to realize planar movements. Kinematic analysis, gait planning, and stability analysis are performed, and a prototype is developed and tested.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Cited by
6 articles.
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