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Table 1 GF expressions of type R & type T

From: Type Synthesis of Walking Robot Legs

Type End-effector’s DoF Condition
R \({\text{G}}_{\text{F14}}^{\text{II}} \left( {{\text{R}}_{\upalpha } , {\text{R}}_{\upbeta } , {\text{T}}_{\text{a}} , 0 , 0 , 0} \right)\) \({\text{R}}_{\upalpha } \not\parallel {\text{R}}_{\upbeta }\)
T \({\text{G}}_{\text{F16}}^{\text{II}} \left( {{\text{R}}_{\upalpha } , {\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , 0 , 0 , 0} \right)\)