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2019 | OriginalPaper | Chapter

An Experimental Characterization of a Parallel Mechanism for Robotic Legs

Authors : Matteo Russo, Marco Ceccarelli, Daniele Cafolla, Daisuke Matsuura, Yukio Takeda

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

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Abstract

A novel robotic leg mechanism based on a parallel architecture is described in this paper. A walking operation of the mechanism is defined and characterized as function of its main design parameters through a numerical simulation. The same operation is then performed by a prototype of the proposed design that has been manufactured through 3D printing. Finally, the results of the numerical simulation and of the experimental tests are compared and discussed.

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previous chapter Decentralized Adaptive Partitioned Approximation Control of Robotic Manipulators
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Metadata
Title
An Experimental Characterization of a Parallel Mechanism for Robotic Legs
Authors
Matteo Russo
Marco Ceccarelli
Daniele Cafolla
Daisuke Matsuura
Yukio Takeda
Copyright Year
2019
Book
ROMANSY 22 – Robot Design, Dynamics and Control

Print ISBN: 978-3-319-78962-0

Electronic ISBN: 978-3-319-78963-7

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-78963-7_4