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TableĀ 13 Limb expression for type R-P (referring TableĀ 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