Synergistic Design of the Bipedal Lower-Limb through Multiobjective Differential Evolution Algorithm

Figure 6

Set of mechanisms and generated paths.

(a) Chosen mechanism by algorithm “A1”

(b) Generated path by using the mechanism in Figure 6(a)

(c) Chosen mechanism by algorithm “A2”

(d) Generated path by using the mechanism in Figure 6(c)

(e) Chosen mechanism by algorithm “A3”

(f) Generated path by using the mechanism in Figure 6(e)