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Designs and Prototypes of Mobile Robots by Yun Hin Kececi, Marco Ceccarelli

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1.Linkages for leg mechanisms

Marco Ceccarelli, University of Cassino and South Latium, Italy

Abstract: Walking robots are based on the mechanical structures of legs, in which mechanisms play an important role in functionality and performance characteristics. These robots have been developed with a wide variety of solutions over time. A short account of the history of using mechanisms in walking robots is presented in this paper, illustrated through significant examples and an explanation of primary concepts, with the goal of stressing challenges for future development.

1.1Walking issues for robots

Locomotion in nature is ensured with legged systems, as demonstrated by animals with a wide range of solutions and performance characteristics. In ...

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