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Files for 3d printing and Matlab simulation of a compliant robotic leg based on Klann's linkage

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Compliant Klann-Linkage Robot

by Jerome Bastien and Lionel Birglen Polytechnique Montreal, 2022

Klann Robot

This repository contains the STL to build a walking machine using two robotic legs based on a compliant mechanism embodiement of Klann's linkage. We also included the Matlab source file we used to design this leg. The robot stores elastic energy when the leg is moving in the air that is released when that leg touches the ground thereby helping with propulsion and reducing power peaks.

The work on this robot is described in: J. Bastien and L. Birglen, "Power Efficient Design a Compliant Robotic Leg Based on Klann's Linkage," in IEEE/ASME Transactions on Mechatronics, 2022, doi: 10.1109/TMECH.2022.3208224. https://ieeexplore.ieee.org/document/9904021

Klann Leg Trajectory

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Files for 3d printing and Matlab simulation of a compliant robotic leg based on Klann's linkage

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