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Table 7 Candidate limbs of GF4

From: Type Synthesis of Walking Robot Legs

Limb expression

No. of cons.

Cons.

Lim.

\({\text{G}}_{\text{F4}}^{\text{I}} \left( {{\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , {\text{T}}_{\text{c}} , 0 , 0 , 0} \right)\)

3

\(\overline{{{\text{G}}_{\text{F}} }} \left( {\overline{{{\text{R}}_{{{\upalpha }}} }} ,\overline{{{\text{R}}_{{{\upbeta }}} }} ,\overline{{{\text{R}}_{{{\upgamma }}} }} , 0 , 0 , 0} \right)\)

1

\({\text{G}}_{\text{F1}}^{\text{I}} \left( {{\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , {\text{T}}_{\text{c}} , {\text{R}}_{{{\upalpha }}} , {\text{R}}_{{{\upbeta }}} , {\text{R}}_{{{\upgamma }}} } \right)\)

0

\(\overline{{{\text{G}}_{\text{F}} }} \left( { 0 , 0 , 0 , 0 , 0 , 0} \right)\)

/

\({\text{G}}_{\text{F2}}^{\text{I}} \left( {{\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , {\text{T}}_{\text{c}} , {\text{R}}_{{{\upalpha }}} , {\text{R}}_{{{\upbeta }}} , 0} \right)\)

1

\(\overline{{{\text{G}}_{\text{F}} }} \left( {\overline{{{\text{R}}_{{{\upgamma }}} }} , 0 , 0 , 0 , 0 , 0} \right)\)

/

\({\text{G}}_{\text{F3}}^{\text{I}} \left( {{\text{T}}_{\text{a}} , {\text{T}}_{\text{b}} , {\text{T}}_{\text{c}} , {\text{R}}_{{{\upalpha }}} , 0 , 0} \right)\)

2

\(\overline{{{\text{G}}_{\text{F}} }} \left( {\overline{{{\text{R}}_{{{\upbeta }}} }} ,\overline{{{\text{R}}_{{{\upgamma }}} }} , 0 , 0 , 0 , 0} \right)\)

/