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This paper discusses the mechanism to realize the possibility of both walking and running by a single robot, made by a combined mechanism of linkages and actuators. This linkage mechanism has actuators below the number of joints; therefore, it enables to reduce the weight of the robot. This study aims at realizing the four-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. First, this paper shows the designing of leg mechanism with effective linkage systems. Additionally, the kinematics simulator is developed and the performance of the prototype is tested. As a result, the effectiveness of these linkage systems has been confirmed, though some issues were found.

journal of robotics and mechatronics

Four-Legged Mechanism for Realizing Dynamic Running &lt;small&gt; –Design of Prototype with Drive System that Enables Dynamic Locomotion Change –&lt;/small&gt;