Intuitive design and gait analysis for a closed loop leg mechanism of a quadruped with single actuator
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The present work has originated from the idea of developing a single degree of freedom quadruped by using single actuator for all the legs with a novel closed loop leg mechanism. This paper presents the leg mechanism right from its basic form to its kinematical and dimensional details, intuitive in the sense that no specific optimization technique has been adopted to decide the magnitude of various kinematical parameters vis--vis link lengths etc. The engineering details of the leg have been given and the gait analysis has been performed for two different sets of link ratios. The author proposes gear trains for achieving the gait of the quadruped. The ultimate aim of this work is to reduce the complex control algorithms for performing dynamically dexterous tasks. 2006 Springer-Verlag Berlin Heidelberg.
