Giter Site home page Giter Site logo

lionelbirglen / compliantklannleg Goto Github PK

View Code? Open in Web Editor NEW
1.0 1.0 0.0 24.41 MB

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

License: GNU General Public License v3.0

MATLAB 100.00%
robotics klann-mechanism locomotion matlab 3d-printing compliant-mechanism linkage stl

compliantklannleg's Introduction

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

compliantklannleg's People

Contributors

jbastien20 avatar lionelbirglen avatar

Stargazers

avatar

Watchers

avatar

Recommend Projects

  • React photo React

    A declarative, efficient, and flexible JavaScript library for building user interfaces.

  • Vue.js photo Vue.js

    🖖 Vue.js is a progressive, incrementally-adoptable JavaScript framework for building UI on the web.

  • Typescript photo Typescript

    TypeScript is a superset of JavaScript that compiles to clean JavaScript output.

  • TensorFlow photo TensorFlow

    An Open Source Machine Learning Framework for Everyone

  • Django photo Django

    The Web framework for perfectionists with deadlines.

  • D3 photo D3

    Bring data to life with SVG, Canvas and HTML. 📊📈🎉

Recommend Topics

  • javascript

    JavaScript (JS) is a lightweight interpreted programming language with first-class functions.

  • web

    Some thing interesting about web. New door for the world.

  • server

    A server is a program made to process requests and deliver data to clients.

  • Machine learning

    Machine learning is a way of modeling and interpreting data that allows a piece of software to respond intelligently.

  • Game

    Some thing interesting about game, make everyone happy.

Recommend Org

  • Facebook photo Facebook

    We are working to build community through open source technology. NB: members must have two-factor auth.

  • Microsoft photo Microsoft

    Open source projects and samples from Microsoft.

  • Google photo Google

    Google ❤️ Open Source for everyone.

  • D3 photo D3

    Data-Driven Documents codes.