In recent years, quadruped mobile robots' development had experienced rapid progress,
which has subsequently increased their usage in many human-assisted applications …

With their unique point‐contact ability with the ground and exceptional adaptability to
complex terrains, quadruped robots have become a focal point in the fields of automation …

In order to enhance the terrain mobility of the close-chain leg mechanism and maximize its
advantages, a novel dual degree-of-freedom (DoF) octopod platform with a reconfigurable …

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

Galloping cheetahs, climbing mountain goats, and load hauling horses all show desirable
locomotion capability, which motivates the development of quadruped robots. Among …

It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles
(PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear …

The benefits of closed-chain leg mechanism with a single motor include simple control, high
stiffness and full rotation driving. To utilize these benefits, a novel closed-chain elastic-bionic …

Toward swift running on biped robots, this article provides a complete design approach for a
robot leg featuring reduced rotational inertia and introduces a novel mechanic optimization …

Physical compliance has been increasingly used in robotic legs, due to its advantages in
terms of the mechanical regulation of leg mechanics and energetics and the passive …

针对八连杆机器人腿部构型数学模型参数多和建模分层复杂的不足, 提出了一种含有复合铰链的
最简八连杆腿部机构. 在保持闭环运动链特性的情况下, 对一般八杆运动链进行局部收缩 …