2 papers
cs.RO2026
Wear-Clearance-Impact Coupling in the Jansen Linkage: A Gait-Durability-Optimized Design Slows Joint Loosening
Jichao Wang
A companion study introduced joint durability into the dimensional design of the Theo Jansen walking linkage and found its classical "holy numbers" Pareto-dominated, but it modelle…
cs.RO2026
Durability-Aware Multi-Objective Optimization of the Jansen Linkage: Trading Gait Quality Against Joint Wear
Jichao Wang
The Jansen linkage is a single-degree-of-freedom planar leg mechanism whose eleven "holy numbers" were evolved by Theo Jansen to optimize the foot-path gait alone, with no regard f…