Cross four-bar linkage for the knees of a planar bipedal robot

@article{Hamon2010CrossFL,
  title={Cross four-bar linkage for the knees of a planar bipedal robot},
  author={Arnaud Hamon and Yannick Aoustin},
  journal={2010 10th IEEE-RAS International Conference on Humanoid Robots},
  year={2010},
  pages={379-384}
}
Usually the bipedal robots use knee joints with only one degree of freedom. Several biomechanical researches have proved that the human knee joint is a complex joint with more than one degree of freedom. In the sagittal plane the human knee joint allows a rolling and a sliding of the thigh on the shin. In the case of a bipedal robot we propose a closed structure, called cross four-bar knee, which gives an additional degree of freedom in translation for the knee joint in the sagittal plane. Two… CONTINUE READING

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