Fig. 7From: The WORMESH-II flatworm-like mesh robot with 2-DOF double jointsWorkspace and trajectories of T\(_{1}\) corresponding to the coordinate frame in Fig. 6 for the joint angle ranging from \(0^{o}\) to \(\pm 20^{o}\) with respect to the centre of the P\(_{1}-Y_{1}\) universal jointBack to article page