Abstract
A new leg mechanism is designed to achieve optimal behaviour in both the stance and swing phases. The leg is designed such that its dynamics and kinematics optimally mimic those of simpler mechanisms, namely the spring-loaded inverted pendulum (SLIP) and the double pendulum, for the stance and swing phase, respectively. Controllers based on the simpler mechanisms can thus be used, resulting in an effective control strategy that is simple and transparent.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
