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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