Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism. - Kohei Tomishiro; Qiang Huang 002; Ryuki Sato; Yasuji Harada; Aiguo Ming; Fei Meng 005; Huaxin Liu; Xuxiao Fan; Xuechao Chen; Zhangguo Yu (IROS, 2019)