{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T07:00:13Z","timestamp":1775631613721,"version":"3.50.1"},"reference-count":47,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2022,3,24]],"date-time":"2022-03-24T00:00:00Z","timestamp":1648080000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Open Access Publishing Fund of Clausthal University of Technology","award":["Article Processing Charge (APC)"],"award-info":[{"award-number":["Article Processing Charge (APC)"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial\u2013parallel topology including leg compliance is proposed. The proposal focusses deeply on the design aspects of the mechanical realisation of the robot based on its 3D-CAD assembly, while also discussing the results of multi-body simulations, exploring the characteristic properties of the mechanical system, regarding the locomotion feasibility of the robot model. Finally, a real-world prototype depicting a single robot leg is presented, which was built by highly leaning into a composite design, combining complex 3D-printed parts with stiff aluminium and polycarbonate parts, allowing for a mechanically dense and slim construction. Eventually, experiments on the prototype leg are demonstrated, showing the mechanical model operating in the real world.<\/jats:p>","DOI":"10.3390\/robotics11020039","type":"journal-article","created":{"date-parts":[[2022,3,24]],"date-time":"2022-03-24T23:31:43Z","timestamp":1648164703000},"page":"39","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial\u2013Parallel Robot with Compliant Agile Legs"],"prefix":"10.3390","volume":"11","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8594-3424","authenticated-orcid":false,"given":"David","family":"Feller","sequence":"first","affiliation":[{"name":"Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany"}]},{"given":"Christian","family":"Siemers","sequence":"additional","affiliation":[{"name":"Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,24]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/0021-9290(90)90043-3","article-title":"Trotting, pacing and bounding by a quadruped robot","volume":"23","author":"Raibert","year":"1990","journal-title":"J. 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