Lightweight Human-Like Robotic Leg with Four-Bar Mechanism Joints

This paper presents the design and kinematic modeling of a lightweight 2-D robot leg prototype equipped with four-bar mechanism joints. Leveraging principles from human biomechanics and robotic engineering, the leg design aims to mimic natural human movement patterns while maintaining structural integrity and efficiency. Through a comprehensive kinematic model, we analyze joint angles, velocities, and torques to ensure the leg capability to execute walking and squatting movements. The model parameters are adjusted based on biomechanical considerations and human locomotion data.