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Table 13 Limb expression for type R-P (referring Table 4)

From: Type Synthesis of Walking Robot Legs

N

Limb 1

Limb 2

Limb 3

Limb 4

Condition

Index

1

GF14

/

/

/

/

C-RP-1

3

GF14

GF1

GF1

/

/

C-RP-5

3

GF8

GF2

GF2

/

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 2,3\)

C-RP-8

3

GF14

GF2

GF2

/

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2,3\)

C-RP-9

4

GF14

GF1

GF1

GF1

/

C-RP-10

4

GF8

GF2

GF1

GF1

/

C-RP-11

4

GF14

GF2

GF1

GF1

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2\)

C-RP-12

4

GF8

GF2

GF2

GF1

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 2,3\)

C-RP-13

4

GF14

GF2

GF2

GF1

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2,3\)

C-RP-14

4

GF8

GF2

GF2

GF2

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 2,3,4\)

C-RP-15

4

GF14

GF2

GF2

GF2

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2,3,4\)

C-RP-16