(21 Oct 2004,
RR Leg Compliance Configurations
RR Leg Configurations To Achieve Desired Compliance Coupling
Cxy < 0
Cxtheta < 0
Cytheta > 0
Xhip > Xfoot
Adding constraint that Xknee > Xfoot creates no feasible configurations.
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.
- 21 Oct 2004
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