An Experimental Characterization of a Parallel Mechanism for Robotic Legs

  • Matteo RussoEmail author
  • Marco Ceccarelli
  • Daniele Cafolla
  • Daisuke Matsuura
  • Yukio Takeda
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)


A novel robotic leg mechanism based on a parallel architecture is described in this paper. A walking operation of the mechanism is defined and characterized as function of its main design parameters through a numerical simulation. The same operation is then performed by a prototype of the proposed design that has been manufactured through 3D printing. Finally, the results of the numerical simulation and of the experimental tests are compared and discussed.


Robotic legs Parallel mechanism Humanoid robot 



The first author has spent a period of research in 2017 at Tokyo Institute of Technology under the supervision of Prof. Y. Takeda, who is gratefully acknowledged.


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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Matteo Russo
    • 1
    Email author
  • Marco Ceccarelli
    • 1
  • Daniele Cafolla
    • 2
  • Daisuke Matsuura
    • 3
  • Yukio Takeda
    • 3
  1. 1.LARM: Laboratory of Robotics and MechatronicsUniversity of Cassino and Southern LatiumCassinoItaly
  2. 2.CESTER (Research Centre for Industrial Robot Simulation and Testing)Technical University of Cluj-NapocaCluj-NapocaRomania
  3. 3.Department of Mechanical EngineeringTokyo Institute of TechnologyTokyoJapan

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