An Overconstrained Robotic Leg with Coaxial Quasi-direct Drives for Omni-directional Ground Mobility
Shihao Feng Yuping Gu Weijie Guo Yuqin Guo Fang Wan Jia Pan Chaoyang Song Shihao Feng Yuping Gu Weijie Guo Yuqin Guo Fang Wan Jia Pan Chaoyang Song
Planar mechanisms dominate modern designs of legged robots with remote actuator placement for robust agility in ground mobility. This paper presents a novel design of robotic leg modules using the Bennett linkage, driven by two coaxially arranged quasi-direct actuators capable of omnidirectional ground locomotion. The Bennett linkage belongs to a family of overconstrained linkages with three-dimen...