Linkages for Leg Mechanisms


Walking robots are based on the mechanical structures of legs, in which mechanisms play an important role in functionality and performance characteristics. These robots have been developed with a wide variety of solutions over time. A short account of the history of using mechanisms in walking robots is presented in this paper, illustrated through significant examples and an explanation of primary concepts, with the goal of stressing challenges for future development.

1.1Walking Issues for Robots
1.2A Historical Survey of Mechanisms for Walking Machines
1.3Modern Solutions
1.4Challenges for Future Developments

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