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the foot has to touch the ground for at least half of the cycle for a two/four leg mechanism [1] or respectively, a third of the cycle for a three/six leg mechanism; minimized moving mass; vertical center of mass always inside the base of support [1] the speed of each leg or group of legs should be separately controllable for steering [6]
The motion of the rod is termed elliptical motion. The semi-axes a and b of the ellipses have lengths equal to the distances from the point on the rod to each of the two pivots. The straight lines described by the pivots are special cases of an ellipse, where the length of one axis is twice the distance between the pivots and that of the other ...
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Theo Jansen's linkage. When the blue line at the right end of the picture is driven in a clockwise rotary motion, the leg (blue triangle at the bottom) executes a walking motion. Relative (dimensionless) proportions shown. Theo Jansen's kinetic sculpture Strandbeest. A wind-driven walking machine. A Strandbeest in action
A Taylor Spatial Frame on the left leg consisting of metal rings, pins and struts. The Taylor Spatial Frame (TSF) is an external fixator used by podiatric and orthopaedic surgeons to treat complex fractures [1] and bone deformities. The medical device shares a number of components and features of the Ilizarov apparatus.
For example, when standing up, the knees are extended. When a joint can move forward and backward, such as the neck and trunk, extension is movement in the posterior direction. [10] Extension of the hip or shoulder moves the arm or leg backward. [11] Even for other upper extremity joints – elbow and wrist, backward movement results in extension.