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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CITATION STYLE
Russo, M., Ceccarelli, M., Cafolla, D., Matsuura, D., & Takeda, Y. (2019). An Experimental Characterization of a Parallel Mechanism for Robotic Legs. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 584, pp. 18–25). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_4
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