Legs

Legs

1. Joint Movement

   • Mammalian
   • Simple two-link
   • Pantograph

2. Balance

   • 4 or more legs
   • Less than 4 legs
     • i.e. Unicycle
     • i.e. Bicycle
     • i.e. Tricycle

3. Means of Power

   • Hydraulics/ Pneumatics
   • DC Motors
   • Pulley System
   • Spring/Stored Mechanical Energy

4. Biomimicry

   • Slither
   • Roll
   • Crawl
   • Jump/Hop
   • Four Legged
     • Dog Walk - Diagonal walk
       • Trot (same but all legs off the ground at points)
     • Giraffe Walk or Pacing - Both legs on one side then the other side
     • Gallop - Front legs then back legs