Dimensional Parameter Optimization of Planar Closed-loop Legged Mechanisms.

Aiming at the foot trajectory outputs by Theo Jansen's linkages, the dimensional parameters of a novel planar closed-loop legged mechanism were optimized. The kinematic models of the mechanism were derived using the Assur groups methods. According to the structural characteristics, he number of design variables was reduced to one by using the position limitation of a crank-rocker mechanism. A single-objective optimization problem was established by minimizing the minimal deviation of the foot trajectories of two mechanisms subjected to the geometric constraints of the dimensional parameters. This problem was solved by the one-dimensional search method, leading to the design and fabrication of an eight-leg mobile robot. The feasibility of the design was verified by experimental results. [ABSTRACT FROM AUTHOR]