1. From: Design and Implementation of a Leg–Wheel Robot: Transleg
Date of download: 10/8/2017
Copyright © ASME. All rights reserved.
From: Design and Implementation of a Leg–Wheel Robot: Transleg
J. Mechanisms Robotics. 2017;9(5): doi: /
Figure Legend:
Relations between the bending angles of spine joints in yaw and pitch directions and the rotation angles of actuators, the increments and decrements of wires in the spine joints, and the length of wire let out by the yaw actuator and the pitch actuator (solid lines and dotted lines are, respectively, relative to the left and right coordinates)