Table 4 Gait parameters of steering locomotion for IMC (\(\sigma =0.5\pi \))
From: Sidewinding locomotion of flatworm-like mesh robot WORMESH-II
Kinematic chain of IMC | JM | \(\hbox {A}_{{v}}\) | \(i\beta \) | \(\Delta \) | \(A_{h}\) |
|---|---|---|---|---|---|
\(\hbox {M}_{{11}}\)-\(\hbox {M}_{{12}}\)-\(\hbox {M}_{{13}}\) | \(\hbox {Mj}_{{y1}}\) | \(0.24\pi \) | 0 | \(0.4\pi \) | \(0.192\pi \) |
\(\hbox {Mj}_{{y2}}\) | \(0.24\pi \) | \(1\pi \) | \(0.1\pi \) | \(0.048\pi \) | |
\(\hbox {M}_{{21}}\)-\(\hbox {M}_{{22}}\)-\(\hbox {M}_{{23}}\) | \(\hbox {Mj}_{{y3}}\) | \(0.24\pi \) | 0 | \(0.4\pi \) | \(0.192\pi \) |
\(\hbox {Mj}_{{y4}}\) | \(0.24\pi \) | \(1\pi \) | \(0.1\pi \) | \(0.048\pi \) | |
\(\hbox {M}_{{31}}\)-\(\hbox {M}_{{32}}\)-\(\hbox {M}_{{33}}\) | \(\hbox {Mj}_{{y5}}\) | \(0.24\pi \) | 0 | \(0.4\pi \) | \(0.192\pi \) |
\(\hbox {Mj}_{{y6}}\) | \(0.24\pi \) | \(1\pi \) | \(0.1\pi \) | \(0.048\pi \) |