The bi-mobile pantograph mechanism used in the walking robot. | Download Scientific Diagram
Figure 3 from A New Energy-free Gravity-compensation Adaptive System for Balancing of 4-DOF Robot Manipulators with Variable Payloads | Semantic Scholar
Geometric optimization of a self-adaptive robotic leg
Design and Control of a Pantograph Robot - Northwestern Mechatronics Wiki
Design and Control of a Pantograph Robot - Northwestern Mechatronics Wiki