ResearchBenchmarksLeg linkage performance evaluation on Leg linkage simulationLeg linkage performance evaluation on Leg linkage simulationFollow2.04Stance FlatnessOptimized2.00922.21712.4252.6329Jun 20, 2026Evaluation resultsMethodMethodLinksStance FlatnessVelocity RippleStep LengthGround ClearanceDuty FactorTotal WearPeak WearOptimizedDesign=Multi-objective...Design=Multi-objective Optimization Redesign2026.062.044.0651.621.918.6——JansenDesign=OriginalDesign=Original2026.062.819.5643.325.720.2——