@inproceedings{63bf0a9b9b254a70980bd718a6e3ccab,
title = "Design and kinematic analysis on a novel serial-parallel hybrid leg for quadruped robot",
abstract = "Aiming to improve the performances and reduce the manufacturing cost of the current legs for quadruped robots, this paper presents a novel 3 DOF serial-parallel hybrid leg. We design a prototype 3D model and give the analytical expressions of inverse and forward kinematics. End-effector workspace is computed using the numerical forward kinematics. The analysis and calculations show that this hybrid leg with simple structure combines the advantages of both serial and parallel mechanisms: high stiffness, high bearing capacity, low structural inertia and large workspace. This research has great significance to a series of further studies on dynamic analysis, mechanism optimal and system control of this novel hybrid leg.",
keywords = "Co-simulation, Kinematic analysis, Quadruped robot, Serial-parallel hybrid leg",
author = "Jianzhuang Zhao and Kai Liu and Fei Zhao and Zheng Sun",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27535-8\_39",
language = "英语",
isbn = "9783030275341",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "436--447",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
}