Skip to main content

Table 15 Limb expression for type T-P (referring Table 10)

From: Type Synthesis of Walking Robot Legs

N

Limb 1

Limb 2

Limb 3

Limb 4

Condition

Index

1

GF16

/

/

/

/

C-TP-1

3

GF16

GF1

GF1

/

 

C-TP-6

3

GF16

GF2

GF2

/

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

C-TP-10

3

GF10

GF3

GF3

/

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

C-TP-13

3

GF16

GF3

GF3

/

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

C-TP-14

4

GF16

GF1

GF1

GF1

/

C-TP-15

4

GF16

GF2

GF1

GF1

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

C-TP-16

4

GF10

GF3

GF1

GF1

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

C-TP-17

4

GF16

GF3

GF1

GF1

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

C-TP-18

4

GF16

GF2

GF2

GF1

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

C-TP-19

4

GF16

GF2

GF2

GF2

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

C-TP-22

4

GF10

GF3

GF3

GF1

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

C-TP-23

4

GF10

GF3

GF2

GF2

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

C-TP-24

4

GF16

GF3

GF3

GF1

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

C-TP-25

4

GF16

GF3

GF2

GF2

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

C-TP-26

4

GF10

GF3

GF3

GF2

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

C-TP-27

4

GF16

GF3

GF3

GF2

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

C-TP-28

4

GF10

GF3

GF3

GF3

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

C-TP-29

4

GF16

GF3

GF3

GF3

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

C-TP-30