{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T02:26:59Z","timestamp":1760236019720,"version":"build-2065373602"},"reference-count":35,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2021,10,16]],"date-time":"2021-10-16T00:00:00Z","timestamp":1634342400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","award":["1557352","1906727"],"award-info":[{"award-number":["1557352","1906727"]}],"id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability.<\/jats:p>","DOI":"10.3390\/robotics10040114","type":"journal-article","created":{"date-parts":[[2021,10,18]],"date-time":"2021-10-18T13:59:52Z","timestamp":1634565592000},"page":"114","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Reuleaux Triangle\u2013Based Two Degrees of Freedom Bipedal Robot"],"prefix":"10.3390","volume":"10","author":[{"given":"Jiteng","family":"Yang","sequence":"first","affiliation":[{"name":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"}]},{"given":"Wael","family":"Saab","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"}]},{"given":"Yujiong","family":"Liu","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9452-482X","authenticated-orcid":false,"given":"Pinhas","family":"Ben-Tzvi","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"}]}],"member":"1968","published-online":{"date-parts":[[2021,10,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1447","DOI":"10.1177\/1077546307078276","article-title":"A historical perspective of legged robots","volume":"13","author":"Silva","year":"2007","journal-title":"J. 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