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Novel solution for leg motion with 5-link belt mechanism

Lovasz E. C., Pop C., Pop F., Dolga V.

International Journal of Applied Mechanics and Engineering

2014

Vol. 19, no. 4

699--708

From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

The relative growth of walking legs of adult Chinese mitten crabs, Eriocheir sinensis in the Odra estuary (Poland). The major axis statistical modeling

De Giosa M., Czerniejewski P.

Oceanological and Hydrobiological Studies

2011

Vol. 40, No.3

61-67

We have quantified the relative growth of the merus and the propodus & carpus of walking legs of an adult of Eriocheir sinensis against the carapace width by fitting the major axis lines. Different lines have been fitted to data relative to male and female individuals. Slope and elevation tests have been performed to investigate sexual dimorphism. Isometry tests have been used to classify the relative growth of each part of the legs against the carapace width as isometric or allometric. All the slope tests have not rejected the null hypothesis of a common slope for the major axes fitted to male data and to female data. However, all the elevation tests have rejected the null hypothesis of a common elevation; so sexual dimorphism was detected for all measured leg parts. The isometry tests have rejected the null hypothesis of isometry only for the merus of the first (left and right) legs of male individuals. All the other isometry tests have not rejected the null hypothesis of isometry. So the relative growth of all the measured leg parts, but the merus of the first (left and right) legs of males, against the carapace width was isometric both for males and for females.