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TableĀ 11 Candidate limbs of GF6

From: Type Synthesis of Walking Robot Legs

Limb expression No. of cons. Cons. Lim.
3 \(\overline{{{\text{G}}_{\text{F}} }} \left( {\overline{{{\text{R}}_{{{\upbeta }}} }} ,\overline{{{\text{R}}_{{{\upgamma }}} }} ,\overline{{{\text{T}}_{\text{c}} }} , 0 , 0 , 0} \right)\) < 2
\({\text{G}}_{\text{F6}}^{\text{I}} \left( {{\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , 0 , 0 , 0 , 0} \right)\) 4 \(\overline{{{\text{G}}_{\text{F}} }} \left( {\overline{{{\text{R}}_{{{\upalpha }}} }} ,\overline{{{\text{R}}_{{{\upbeta }}} }} ,\overline{{{\text{R}}_{{{\upgamma }}} }} ,\overline{{{\text{T}}_{\text{c}} }} , 0 , 0 , 0} \right)\) < 2