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.
Determining link parameters using genetic algorithm in mechanisms with joint clearance.Mechanism and Machine Theory, 44(1):222–234, 2009
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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.