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Table 4 Solutions of constrain number synthesis for type R-P

From: Type Synthesis of Walking Robot Legs

Index

N

[Co, n cj ], j = 0–6

C-RP-1 (series)

1

[0,0,0,0,1,0,0,0]

C-RP-2

2

[0,1,0,0,1,0,0,0]

C-RP-3

2

[0,0,1,1,0,0,0,0]

C-RP-4

2

[1,0,1,0,1,0,0,0]

C-RP-5

3

[0,2,0,0,1,0,0,0]

C-RP-6

3

[0,1,1,1,0,0,0,0]

C-RP-7

3

[1,1,1,0,1,0,0,0]

C-RP-8

3

[1,0,2,1,0,0,0,0]

C-RP-9

3

[2,0,2,0,1,0,0,0]

C-RP-10

4

[0,3,0,0,1,0,0,0]

C-RP-11

4

[0,2,1,1,0,0,0,0]

C-RP-12

4

[1,2,1,0,1,0,0,0]

C-RP-13

4

[1,1,2,1,0,0,0,0]

C-RP-14

4

[2,1,2,0,1,0,0,0]

C-RP-15

4

[2,0,3,1,0,0,0,0]

C-RP-16

4

[3,0,3,0,1,0,0,0]