Creator:

Lovasz, Erwin ; Pop, Florin ; Pop, Cristian ; Dolga, Valer

Contributor:

Jurczak, Paweł - red.

Title:

Novel solution for leg motion with 5-link belt mechanism

Group publication title:

IJAME, volume 19 (2014)

Subject and Keywords:

walking leg ; Jansen leg ; 5-link belt mechanism ; path generation ; kinematic analysis

Abstract:

From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2014

Resource Type:

artykuł

Format:

application/pdf

DOI:

10.2478/ijame-2014-0048

Pages:

699-708

Source:

IJAME, volume 19, number 4 (2014)

Language:

eng

License:

CC 4.0

License CC BY-NC-ND 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego