Table 3 Topology expression and classification
From: Type Design and Behavior Control for Six Legged Robots
Formula | Configuration | Representation |
|---|---|---|
\({M_{{T_{0 - 6}}}}\) | 0‒6 | No leg lifted |
\({M_{{T_{1 - 5}}}}\) | 1‒5 | 1 leg lifted |
\({M_{{T_{2 - 4}}}}\) | 2‒4 | 2 legs lifted |
\({M_{{T_{3 - 3}}}}\) | 3‒3 | 3 legs lifted |
\({M_{{T_{4 - 2}}}}\) | 4‒2 | 4 legs lifted |
\({M_{{T_{5 - 1}}}}\) | 5‒1 | 5 legs lifted |
\({M_{{T_{6 - 0}}}}\) | 6‒0 | 6 legs lifted |