Abstract
A novel robotic leg mechanism based on a parallel architecture is described in this paper. A walking operation of the mechanism is defined and characterized as function of its main design parameters through a numerical simulation. The same operation is then performed by a prototype of the proposed design that has been manufactured through 3D printing. Finally, the results of the numerical simulation and of the experimental tests are compared and discussed.
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Acknowledgements
The first author has spent a period of research in 2017 at Tokyo Institute of Technology under the supervision of Prof. Y. Takeda, who is gratefully acknowledged.
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Russo, M., Ceccarelli, M., Cafolla, D., Matsuura, D., Takeda, Y. (2019). An Experimental Characterization of a Parallel Mechanism for Robotic Legs. In: Arakelian, V., Wenger, P. (eds) ROMANSY 22 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 584. Springer, Cham. https://doi.org/10.1007/978-3-319-78963-7_4
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DOI: https://doi.org/10.1007/978-3-319-78963-7_4
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