3 accepted papers
This paper presents the design, modeling, analysis, and experimental results of a bipedal robotic system that utilizes two interconnected single degree-of-freedom leg mechanisms to produce stable forward locomotion and steering. The legs are composed of double four-bar mechanism connected in series…
This paper presents dynamic modeling and control of an articulated robotic tail to maneuver and stabilize a reduced degree-of-freedom (DOF) quadruped robot. Conventional legged robotic systems consist of leg mechanisms that provide simultaneous propulsion, maneuvering and stabilization. However, in…
This paper presents the mechanical design and analysis of a novel leg mechanism that has only one active degree of freedom (DOF). The proposed mechanism is intended towards simplifying the mechanical and control complexity identified with the robotic legs implemented on quadrupedal platforms capable…