Table 1 Gait parameters of simulation for translational locomotion
From: Sidewinding locomotion of flatworm-like mesh robot WORMESH-II
Joint | A | \(i\beta \) | Joint | A | \(i\beta \) |
|---|---|---|---|---|---|
\(\hbox {PY}_{{11}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{11}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{12}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{12}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{21}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{21}}\) | \(A_{h}\) | \(2\pi \) |
\(\hbox {PY}_{{22}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{22}}\) | \(A_{h}\) | \(2\pi \) |
\(\hbox {PY}_{{31}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{31}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{32}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{32}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{41}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{41}}\) | \(A_{h}\) | \(2\pi \) |
\(\hbox {PY}_{{42}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{42}}\) | \(A_{h}\) | \(2\pi \) |
\(\hbox {PY}_{{51}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{51}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{52}}\) | \(A_{v}\) | 0 | \(\hbox {YY}_{{52}}\) | \(A_{h}\) | \(\pi /2\) |
\(\hbox {PY}_{{61}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{61}}\) | \(A_{h}\) | \(2\pi \) |
\(\hbox {PY}_{{62}}\) | \(A_{v}\) | \(1.5\pi \) | \(\hbox {YY}_{{62}}\) | \(A_{h}\) | \(2\pi \) |