-- MarkCutkosky - 28 Jul 2003

Leg Concepts

Various ideas for the structure and actuation of legs. (These leg designs are very dependent on what goes on at the claw and foot.) The idea is for this page to mostly just point to concepts . For more structured design work, see the LegDesign pages.

• UnderActuatedFrontLeg : A tendon-driven leg with just one actuator for four joints. Somewhat inspired by insect legs and also by work on underactuated finger mechanisms for robotic and prosthetic hand (e.g. S. Hirose).