This paper presents a review of biological mechanical linkage mechanisms. One purpose is
to identify the range of kinematic functions that they are able to perform. A second purpose is …

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 …

Robotic control is a fundamental part of autonomous robots. Modular legged and climbing
robots are complex machines made up of a variety of subsystems, ranging from a single …

In order to improve the adaptability of one-degree-of-freedom leg mechanism to unknown
terrains while maintaining its control simplicity, energy efficiency and integral rigidity, a novel …

The paper focuses on the development of a new adjustable knee joint mechanism that can
also be used as a device to assist in the rehabilitation of knee joint motion. The mechanism …

针对单自由度闭链腿部机构足端轨迹单一导致机器人的地面适应性不足, 提出一种新型可调整闭
链腿部机构. 以Klann 六杆机构为构型基础, 增加一个使其机架铰链转动的自由度 …

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 …

Legged robot has attracted wide attention because of its outstanding mobility and flexibility
in the off‐road environment. Benefitting from the smooth foot trajectory and the discrete …

This paper addresses attention to a design for a low-cost exoskeleton with fairly simple
construction, lightweight, easy to wear and to adapt to human legs. The design core is …

In order to enhance the adaptability of closed-chain multi-legged platform to uneven terrain,
a reconfigurable passive locomotion closed-chain platform (RPCP) is proposed. On the …