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This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion and steering. The single DOF leg is actuated via a Reuleaux triangle cam-follower mechanism to produce a constant body height foot trajectory. Kinematic analysis and dimension selection of the Reuleaux triangle mechanism is conducted first to generate the desired step height and step length. Leg sequencing is then designed to allow the robot to maintain a constant body height and forward walking velocity. Dynamic simulations and experiments are conducted to evaluate the walking and steering performance. The results show that the robot is able to control its body orientation, maintain a constant body height, and achieve quasi-static locomotion stability. 

This paper presents the design, modeling, analysis, and experimental results of a bipedal robotic system that utilizes two interconnected single degree-of-freedom leg mechanisms to produce stable forward locomotion and steering. The legs are composed of double four-bar mechanism connected in series that maintain a parallel orientation of a flat foot, relative to the biped body, that is actuated via a Reuleaux triangle cam-follower system to produce a desirable foot trajectory. The mechanical design of the leg mechanism is presented followed by kinematic analysis of the cam-follower system to select the optimal foot trajectory and synthesize the mechanism dimensions and produce a desired step height and step length. The concept of leg sequencing is then presented to maintain a constant body height above the ground and a constant forward walking velocity. Experimental results using an integrated prototype indicate that the proposed biped robot is capable of maintaining quasi-static stability during locomotion, maintaining a constant robot body height, maintaining a constant body orientation, move forward with a constant maximum velocity of 27.4 cm/s, and steer.