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We use Curvature Theory to design a four-bar linkage with a flat-sided coupler curve and then adds a translating link so that walker foot follows this coupler curve in rectilinear movement. A prototype walker was constructed that weighs 1.6 kg, is 180 mm tall, and travels at 162 mm\/s. This is an innovative legged robot that has a simple reliable design.<\/jats:p>","DOI":"10.1017\/s0263574723001558","type":"journal-article","created":{"date-parts":[[2023,12,1]],"date-time":"2023-12-01T04:47:41Z","timestamp":1701406061000},"page":"4019-4035","source":"Crossref","is-referenced-by-count":4,"title":["A steerable robot walker driven by two actuators"],"prefix":"10.1017","volume":"42","author":[{"given":"Jiaji","family":"Li","sequence":"first","affiliation":[{"name":"University of California, Irvine"}]},{"given":"Chenhao","family":"Liu","sequence":"additional","affiliation":[{"name":"University of California, San Diego"}]},{"given":"Ken","family":"Nguyen","sequence":"additional","affiliation":[{"name":"University of California, Irvine"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3991-4681","authenticated-orcid":false,"given":"J. Michael","family":"McCarthy","sequence":"additional","affiliation":[{"name":"University of California, Irvine"}]}],"member":"56","published-online":{"date-parts":[[2023,12,1]]},"reference":[{"key":"S0263574723001558_ref19","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aag2048"},{"key":"S0263574723001558_ref21","doi-asserted-by":"crossref","unstructured":"[21] Liu, Y. and Ben-Tzvi, P. , \u201cSystematic Development of a Novel, Dynamic, Reduced Complexity Quadruped Robot Platform for Robotic Tail Research,\u201d In: 2022 IEEE International Conference on Robotics and Automation, Philadelphia, PA, USA (2022).","DOI":"10.1109\/ICRA46639.2022.9811871"},{"key":"S0263574723001558_ref28","volume-title":"Kinematic Synthesis of Mechanisms: A Project Based Approach","author":"McCarthy","year":"2019"},{"key":"S0263574723001558_ref8","doi-asserted-by":"crossref","unstructured":"[8] Islam, S. , Carter, K. , Yim, J. , Kyle, J. , Bergbreiter, S. and Johnson, A. 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