Development and Analysis of a Biped Robot with Prismatic Compliance
Takumi Kamioka,Hirofumi Shin,Ryo Yamaguchi,Masaaki Muromachi,Takumi Kamioka,Hirofumi Shin,Ryo Yamaguchi,Masaaki Muromachi
Previous studies suggest that bipedal robots that have prismatic compliance in the legs can achieve efficient walking. However, how this efficiency can be achieved still remains an open research problem. In this study, we developed a 2-degree-of-freedom planar bipedal robot comprising Neidhart springs and five-bar parallel mechanisms. The five-bar parallel mechanism allows the robot to achieve pri...
