Four-legged planar walking robot

Contexts in source publication

Context 1

... four-legged planar walking robot ( Fig. 2), upper and lower leg elements are identical, with length 2l e , mass m e and inertia J e measured about their centers of mass. The feet have mass m f located at the ankle joint and are assumed to have negligible inertia. With both feet on the ground, robot acts almost like the closed-loop linkage of four co-operating two planar SCARA ...

Context 2

... ψ represents angle of torso with respect to the vertical, α 1 and α 2 are angles of the upper leg elements relative to the vertical, and β 1 and β 2 are the angles of the lower leg elements relative to the vertical (Fig. ...