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International Journal of Applied Mechanics and Engineering

The Journal of University of Zielona Góra

Editor-in-Chief: Walicki, Edward

4 Issues per year

CiteScore 2016: 0.12

SCImago Journal Rank (SJR) 2016: 0.127
Source Normalized Impact per Paper (SNIP) 2016: 0.063

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Novel Solution for Leg Motion with 5-Link Belt Mechanism

Lovasz E.Ch.
  • Corresponding author
  • Department of Mechatronics, Faculty of Mechanical Engineering Politehnica University of Timisoara, Romania
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/ Pop C. / Pop F. / Dolga V.
Published Online: 2014-12-30 | DOI: https://doi.org/10.2478/ijame-2014-0048


From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

Keywords : walking leg; Jansen leg; 5-link belt mechanism; path generation; kinematic analysis


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About the article

Received: 2014-06-04

Revised: 2014-10-01

Published Online: 2014-12-30

Published in Print: 2014-11-01

Citation Information: International Journal of Applied Mechanics and Engineering, Volume 19, Issue 4, Pages 699–708, ISSN (Online) 1734-4492, DOI: https://doi.org/10.2478/ijame-2014-0048.

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© 2015. This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License. BY-NC-ND 3.0

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