Mechanical Design Methodology for a Biarticularly Driven Biped Robot with Complex Joint Geometry

Biarticular actuators can enhance efficiency and stability in legged locomotion by transferring energy between joints. Their effectiveness depends strongly on the lever arm ratio—the ratio of the actuator’s moment arm at one joint to its moment arm at another—which governs how torque is distributed...

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Auteurs principaux:	Oleksandr Sivak, Krzysztof Mianowski, Steffen Schütz, Karsten Berns
Format:	Artigo
Langue:	Inglês
Publié:	MDPI AG 2026-03-01
Collection:	Actuators
Sujets:	design optimization bipedal robotic locomotion biarticular actuators bioinspired robotic locomotion biomechanics
Accès en ligne:	https://www.mdpi.com/2076-0825/15/3/145
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