Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.
Deepgenerativemodel-basedsynthesisframework of four-bar linkage mechanisms with target conditions.Journal of Computational Design and Engineering, 11(5):318–332, 2024
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Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
Adjusting Jansen linkage lengths within 29% yields designs that flatten stance by 28%, smooth velocity by 58%, and cut total joint wear by 56% while satisfying gait constraints.