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Table 20 Example legs for type R-H

From: Type Synthesis of Walking Robot Legs

Parallel limb 1

Parallel limb 2

Parallel limb 3

Serial limb

Other limb

Index

U

UPS

UPS

P

/

C-RH-1, C-RP-1

UP

UPS

UPS

RR(R)

UC

C-RP-5, C-RP-2