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Bipedal Robot with Serial-Parallel Hybrid Leg Mechanism

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Here is a leg mechanism for robots that enables agile bipedal locomotion. Disney Research’s Hybrid Leg mechanism achieves 6 DOF with a combined structure of serial and parallel mechanism. It is made with carbon fiber tubes and bearings fro improved rigidity and accuracy.

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Design and Fabrication of a Bipedal Robot using Serial-Parallel Hybrid Leg Mechanism

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