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On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

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posted on 2023-06-09, 00:28 authored by Shunsuke Nansai, Nicolas Rojas, Mohan Rajesh Elara, Ricardo Sosa, Masami Iwase
Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.

History

Publication status

  • Published

File Version

  • Published version

Journal

Advances in Mechanical Engineering

ISSN

1687-8140

Publisher

Hindawi Publishing Corporation

Issue

3

Volume

7

Department affiliated with

  • Engineering and Design Publications

Full text available

  • Yes

Peer reviewed?

  • Yes

Legacy Posted Date

2016-03-07

First Open Access (FOA) Date

2016-03-07

First Compliant Deposit (FCD) Date

2016-03-07

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