RR Leg Configurations To Achieve Desired Compliance Coupling

10/20/2004

L1 → L2 ↓

Constraints: Cxy < 0 Cxtheta < 0 Cytheta > 0 Xhip > Xfoot

Issues:

1. Adding constraint that Xknee > Xfoot creates no feasible configurations.
2. Still a bit of thinking about what the effective compliance at the foot means - it's not quite as clear as I'd like it for a single serial leg.

-- JonathanKarpick - 21 Oct 2004