Yuping Gu

An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility

Planar mechanisms dominate modern designs of legged robots with remote actuator placement for robust agility in ground mobility. This paper presents a novel design of robotic leg modules using the Bennett linkage, driven by two coaxially arranged quasi-direct actuators capable of omnidirectional gro…