Vladimir Gerasimov

DecARt Leg: Design and Evaluation of a Novel Humanoid Robot Leg with Decoupled Actuation for Agile Locomotion

In this paper, we propose a novel design of an electrically actuated robotic leg, called the DecARt (Decoupled Actuation Robot) Leg, aimed at performing agile locomotion. This design incorporates several new features, such as the use of a quasi-telescopic kinematic structure with rotational motors f