Leg mechanism
A leg mechanism an assembly of links and joints (a linkage) intended to simulate the walking motion of humans or animals. Mechanical legs can have one or more actuators, and can perform simple planar or complex motion.
Gallery
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Klann linkage
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Leg mechanism of the Tokyo Institute of Technology walking chair
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2 DOF leg mechanism of the RPRPR type.
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Jansen linkage
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Strandbeest (applied Jansen linkage)