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Table 10 Solutions of constrain number synthesis for type T-P

From: Type Synthesis of Walking Robot Legs

Index

N

[Co, n cj ], j = 0–6

C-TP-1 (series)

1

[0,0,0,0,1,0,0,0]

C-TP-2

2

[0,1,0,0,1,0,0,0]

C-TP-3

2

[1,0,1,0,1,0,0,0]

C-TP-4

2

[1,0,0,2,0,0,0,0]

C-TP-5

2

[2,0,0,1,1,0,0,0]

C-TP-6

3

[0,2,0,0,1,0,0,0]

C-TP-7

3

[1,1,1,0,1,0,0,0]

C-TP-8

3

[1,1,0,2,0,0,0,0]

C-TP-9

3

[2,1,0,1,1,0,0,0]

C-TP-10

3

[2,0,2,0,1,0,0,0]

C-TP-11

3

[2,0,1,2,0,0,0,0]

C-TP-12

3

[3,0,1,1,1,0,0,0]

C-TP-13

3

[3,0,0,3,0,0,0,0]

C-TP-14

3

[4,0,0,2,1,0,0,0]

C-TP-15

4

[0,3,0,0,1,0,0,0]

C-TP-16

4

[1,2,1,0,1,0,0,0]

C-TP-17

4

[1,2,0,2,0,0,0,0]

C-TP-18

4

[2,2,0,1,1,0,0,0]

C-TP-19

4

[2,1,2,0,1,0,0,0]

C-TP-20

4

[2,1,1,2,0,0,0,0]

C-TP-21

4

[3,1,1,1,1,0,0,0]

C-TP-22

4

[3,0,3,0,1,0,0,0]

C-TP-23

4

[3,1,0,3,0,0,0,0]

C-TP-24

4

[3,0,2,2,0,0,0,0]

C-TP-25

4

[4,1,0,2,1,0,0,0]

C-TP-26

4

[4,0,2,1,1,0,0,0]

C-TP-27

4

[4,0,1,3,0,0,0,0]

C-TP-28

4

[5,0,1,2,1,0,0,0]

C-TP-29

4

[5,0,0,4,0,0,0,0]

C-TP-30

4

[6,0,0,3,1,0,0,0]