2025
Computational Design of Closed Linkages For Robotic Limbs
Mikhail E. Chaikovskii, Yefim V. Osipov-Sigachev, Kirill D. Zharkov, Ivan I. Borisov, Sergey A. Kolyubin
IROS 2025
Legged robots require low-inertia limbs capable of carrying a high payload. The design of such limbs poses challenges in integrating optimal kinematic structures with practical design considerations. In the search for optimal design parameters, advantages of optimization algorithms can be applied. T