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Table 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