Comparison of crank based leg mechanism/locus

From Wikibooks, open books for an open world
Jump to navigation Jump to search

the locus[edit]

Phases of the Locus

The path of the foot is called locus.

The locus can be divided into four parts:[1]

  • support phase
  • lift phase
  • return phase
  • lower phase
Phases of the Locus

An other way to look at locus is in two phases:[1]

  • support phase
  • transfer phase

Eitherway, the support phase is where the leg is carrying the weight of the vehicle and pushing it forward.

Other literature uses the terms swing and stance phase.[2]

Footpaths[edit]

In this section, you find the path of the foot as set of coordinates.

The table is shorted by turning point, support phase, turning point, transfer phase.

  1. a b http://www.amandaghassaei.com/files/thesis.pdf
  2. http://siddharthswaminathan.in/files/WalkingMechanism.pdf