Synthesis of leg mechanism and optimal design of walking robot with decoupled motion [Text] : Thesis for the degree of Doctor of Philosophy (PhD) : 8D07117 - Robotic systems / A. S. Ibrayeva ; Al-Farabi Kazakh National University ; local supervisor J. Nutpulla ; Foreign supervisor S. Patel... – Almaty : [s. n.], 2024. - 98 sh., ill., formulas, diagrams;+ 1 electron. opt. disk (CD-ROM) . . – Bibliogr.: sh. 88-96 . – [n. c.] : 0 tg.
The aim of the study is to develop methods for synthesizing mechanisms of a walking robot's leg and optimizing the robot's parameters based on the functional decomposition, which simplifies the control system and ensures movement across rough terrain with minimal energy consumption