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Comparison of crank based leg mechanism/locus
Reference material by Wikibooks contributors. This retains its source identity and is not 411 news reporting.
the locus
thumb|Phases of the Locus
The path of the foot is called locus.
The locus can be divided into four parts:http://www.amandaghassaei.com/files/thesis.pdf
support phase
lift phase
return phase
lower phase
thumb|Phases of the Locus
An other way to look at locus is in two phases:
support phase
transfer phase
Eitherway, the support phase is where the leg is carrying the weight of the vehicle and
pushing it forward.
Other literature uses the terms swing and stance phase.http://siddharthswaminathan.in/files/WalkingMechanism.pdf
Footpaths
In this section, you find the path of the foot as set of coordinates.
The table is shorted by turning point, support phase, turning point, transfer phase.