Table 1 GF sets of end-effector characteristics suitable for legged robots
From: Type Design and Behavior Control for Six Legged Robots
DoF | Characteristics of end-effector | End-effector description |
|---|---|---|
6 | \(G_{F1}^I\left( {{T_a},\;{T_b},{T_c}\;,{R_\alpha }\;,{R_\beta },\;{R_\gamma }} \right)\) |
|
5 | \(G_F^{III}\left( {{R_\alpha },{T_a},\;{T_b},\;{R_\beta },\;{R_\gamma },\;0} \right)\) |
|
4 | \(G_{F3}^I\left( {{T_a},\;{T_b},{T_c}\;,{R_\alpha },\;0,\;0} \right)\) |
|
\(G_{F25}^{III}\left( {{R_\beta },\;{T_a},\;{T_b},\; {R_\gamma },\;0,\;0} \right)\) |
| |
3 | \(G_{F4}^I\left( {{T_a},\;{T_b},\;{T_c},\;0,\;0,\;0} \right)\) |
|
\(G_{F5}^I\left( {{T_a},\;{T_c},\;{R_\beta },\;0,\;0,\;0} \right)\) |
| |
\(G_{F16}^{II}\left( {{R_\beta }\;,{T_a},\;{T_b},\;0,\;0,\;0} \right)\) |
| |
2 | \(G_{F19}^{II}\left( {{R_\beta },\;{T_a},\;0,\;0,\;0,\;0} \right)\) Ta and Rβ are linearly independent |
|
1.5 | \(G_{F19}^{II}\left( {{R_\beta },\;{T_a},\;0,\;0,\;0,\;0} \right)\) Ta and Rβ are not independent |
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