Force Analysis and Evaluation of a Pelvic Support Walking Robot with Joint Compliance

Table 1

Parameters of pelvic brace.

Parameters	Link 0	Link 1	Link 2	Link 3	Link k2	Link k3
Link length li (m)	0.01	0.23	0.40	0.40	0.025	0.03
Mass mi (kg)	4.0	12.0	6.0	8.0	0.2	0.2