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Kinematic Modeling and Analysis of a Walking Machine (Robot) Leg Mechanism on a Rough Terrain

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Figure

Fig. 1. DH convention of leg mechanism
Fig. 2. Leg mechanism response of walking machine (a) Displacement, ve-locity and acceleration response, (b) Torque profile
Fig. 3. Leg mechanism response of walking machine (a) Displacement, velocity and ac-celeration response, (b) Torque response of fluctuating input function

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