Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Joint</td><td class="align_center">Size (mm)</td><td class="align_center">Initial phase (°)</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Thigh connecting rod <i>l</i><sub>AG</sub></td><td class="align_center">170</td><td class="align_center">40</td></tr><tr><td class="align_left">Crus connecting rod <i>l</i><sub>GH</sub></td><td class="align_center">250</td><td class="align_center">80</td></tr><tr><td class="align_left">Parallelogram <i>l</i><sub>AD</sub>/<i>l</i><sub>BC</sub></td><td class="align_center">50/84</td><td class="align_left"> </td></tr><tr><td class="align_left">Contra-parallelogram <i>l</i><sub>AE</sub>/<i>l</i><sub>EF</sub></td><td class="align_center">34/170</td><td class="align_left"> </td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Joint parameters of quadruped robot.</div>

Mathematical Problems in Engineering

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Table 1

Table 1: Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot 