Experimental Validation of the Usage of Kinematic Singularities to Produce Periodic High-Powered Motion
Chang Liu,Mark Plecnik,Chang Liu,Mark Plecnik
This paper reports on preliminary experimental results of recently proposed mechanism kinematics for a legged robot. The proposed kinematics creates a mapping from a series-elastic actuator to a foot motion that includes a pair of singularities within a fully rotatable kinematic circuit. Such a circuit is less common and only possible with certain multi-loop linkages. A slice of the configuration ...
