Looking for information on design of 3DOF legs

Lynxmotion Legged Robots
1

I am new to robotics and am looking for information on the design and functioning of 3DOF legs. I have been searching for several days now and have not found anything that provides general design information on how 3DOF legs work. I am most interested in a Hex configuration as well as the various walking gates. Any references and links would be appreciated.

Thanks
Alan

2

Hi Alan,

First, you can study the build PDFs for 3DOF legs here. Then go to insect studies, locomotion.

oricomtech.com/misc/robolnk8.htm

home.hccnet.nl/raymond.van.elst/sixleg.htm

There is IK code witch shows how the math works, and power point programs that demonstrate IK on this site. Download and study the CH3-R and similar 'bot programs. See the assembly instructions.

There are TONS of papers written and available on the web. Search on locomotion, hexapod, gait, etc.

Get books! “Robot Programming” by Joseph Jones is a starter. REALLY like math? Try “Introduction to Robotics” by John Craig.

See papers by Brooks of the MIT leg lab.

Ask questions!

Alan KM6VV