Humanoid Gait

The motion of this humanoid walking machine is driven by a single motor. A constant rpm shaft turns three function generating linkages. These linkages are mechanically constrained to match the joint angle functions at the hip, knee, and ankle. The resulting motion closely matches the video footage from which it was obtained. The function generating linkages are Stephenson II six-bars. See publication: http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2471052&resultClick=3

Видео Humanoid Gait канала Mark Mathew Plecnik