Four-Legged Mechanical Walkers: Spring 2020 Highlights
The design of these four-legged walkers relies on Curvature theory to find a flat-sided coupler curve of a four-bar linkage to be used for the foot trajectory. This coupler curve is repositioned using a skew pantograph. The result is a six-bar leg mechanism. Stable gait for these walkers can be achieved by adding side-to-side foot […]