While being extensively researched in literature, overconstrained linkages' engineering
potential is yet to be explored. This study investigates the design of overconstrained …

Legged robots are constantly evolving, and energy efficiency is a major driving factor in their
design. However, combining mechanism efficiency and trajectory planning can be …

Recent advancement in quadrupedal robustness and agility has shown the exciting
progress towards the early adoption, yet there remains a challenge to enhance the payload …

This paper studies the design, modeling, and control of a novel quadruped, featuring
overconstrained robotic limbs employing the Bennett linkage for motion and power …

While the animals' Fin-to-Limb evolution has been well-researched in biology, such
morphological transformation remains under-adopted in the modern design of advanced …

In this paper, a reconfigurable spatial 8R linkage is discussed. By adding coaxial joints to
the links of a Bennett linkage, the mechanism is allowed to switch between a series of …