Preprint
Oct 2026
Design and Analysis of a Nonlinear Parallel Mechanism Coupling for Dynamic Humanoid Legs
Humanoids increasingly demand lightweight leg mechanisms for agile, dynamic, and energy-efficient locomotion. Reducing distal inertia through proximal actuation has thus become a common design goal. Yet, compact transmissions that preserve torque capability and efficient force transmission remain hard to achieve. This...
Rohit Kumar, Heiner Peters, Felix Wiebe et al.
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