On a Jansen leg with multiple gait patterns for reconfigurable walking platforms

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Title: On a Jansen leg with multiple gait patterns for reconfigurable walking platforms
Authors: Nansai, S
Rojas, N
Elara, MR
Sosa, R
Iwase, M
Item Type: Journal Article
Abstract: Legged robots are able to move across irregular terrains and those based on 1-degree-of-freedom planar linkages can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This article reports the design of a novel reconfigurable Theo Jansen linkage that produces a wide variety of gait cycles, opening new possibilities for innovative applications. The suggested mechanism switches from a pin-jointed Grübler kinematic chain to a 5-degree-of-freedom mechanism with slider joints during the reconfiguration process. It is shown that such reconfigurable linkage significantly extend the capabilities of the original design, while maintaining its mechanical simplicity during normal operation, to not only produce different useful gait patterns but also to realize behaviors beyond locomotion. Experiments with an implemented prototype are presented, and their results validate the proposed approach.
Issue Date: 18-Mar-2015
Date of Acceptance: 19-Jan-2015
ISSN: 1687-8140
Publisher: SAGE Publications
Journal / Book Title: Advances in Mechanical Engineering
Volume: 7
Issue: 3
Copyright Statement: © 2015 The Authors.This article is distributed under the terms of the Creative Commons Attribution 3.0 License ( which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access page (
Publication Status: Published
Open Access location:
Appears in Collections:Dyson School of Design Engineering

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