A robotic leg architecture that lets humanoid robots stand straight instead of in the energy-hungry bent-knee stance. An adjustable five-bar closed-chain mechanism combines the efficiency of closed chains with the versatility of open chains.
Publications
1
M. G. Chandramohan, K. Meitani, G. G. Nanayakkara, S. Nisar
31st Int. Symposium on Artificial Life and Robotics (AROB 2026)
2
M. G. Chandramohan, J. A. G. Nanayakkara, S. Nisar
Proc. 43rd Annual Conf. of the Robotics Society of Japan (RSJ 2025)
3
Making Humanoid Robots Stand Straight: Design of a Novel Robotic Leg Architecture Ensuring High Energy Efficiency and Versatility Thesis
M. G. Chandramohan
Bachelor's thesis (Lab Project), Kyoto University of Advanced Science, Kyoto, Japan · Advisor: S. Nisar
