Robot leg redesigned with linkage mechanism: the outcome of the first test?

We had been using a timing belt structure for ease of assembly. However, during actual operation, we experienced issues such as belt slippage and even backlash, which highlighted the limitations of the belt-driven design.

As a result, we switched to a linkage structure that enables more stable transmission of higher torque.

This video captures the first motion test of the robot leg redesigned with the linkage structure, allowing you to see how the structural change led to performance improvements.