Kinematic And Dynamic Analyses Of A Pantograph-Leg For A Biped Walking Machine

In this paper Kinematic and Dynamic analyses are presented for a 1-DOF (Degree-of-Freedom) pantograph-leg. The main objectives that have been considered to achieve a walking operation are modularity, compactness, light weight and reduced number of DOFs. A preliminary version of a low-cost biped machine, which is capable of a straight walking with only one actuator, has been built at LARM: Laboratory of Robotics and Mechatronics in Cassino. Experimental tests have been carried out to validate the proposed model and to test the practical feasibility of the leg design.