Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td class="align_left">Linkage</td><td class="align_center">Size (mm)</td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td class="align_left">Thigh connecting rod LDF</td><td class="align_center">170</td></tr><tr><td class="align_left">Shank connecting rod LFH</td><td class="align_center">227</td></tr><tr><td class="align_left">Parallelogram mechanism LAB/LBC</td><td class="align_center">50/84</td></tr><tr><td class="align_left">Antiparallelogram mechanism LDG/LGE</td><td class="align_center">34/170</td></tr><tr class="table-tr"><td colspan="2"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Complexity

tab2

Table 2

Table 2: Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot 