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r
y
r
o
u
g
h
ter
r
ai
n
an
d
ca
n
e
v
en
w
al
k
u
p
a
n
d
d
o
w
n
s
tair
s
.
T
h
e
p
r
o
b
lem
w
it
h
t
h
e
s
p
ec
if
ic
d
e
s
ig
n
o
f
R
h
e
x
is
th
at
it
h
as
is
n
o
t
ca
p
ab
le
to
tu
r
n
th
e
r
o
b
o
t,
it c
an
o
n
l
y
g
o
"
s
tr
aig
h
t"
ah
ea
d
.
I
n
a
T
V
s
h
o
w
ca
lled
“
P
r
o
to
t
y
p
e
T
h
is
!
”
a
n
atte
m
p
t i
s
m
ad
e
to
m
ak
e
a
f
u
ll
s
ca
le
all
ter
r
ain
r
o
b
o
t
w
ith
6
leg
s
u
s
i
n
g
t
h
e
R
h
ex
leg
d
esig
n
.
T
h
e
y
f
ai
led
to
d
o
it
in
2
w
ee
k
s
’
ti
m
e,
b
u
t
s
h
o
w
t
h
e
p
r
o
b
le
m
s
b
y
s
ca
l
in
g
th
i
s
co
n
ce
p
t.
Am
p
lifie
r
s
,
b
atter
ies
an
d
co
n
tr
o
ller
s
ca
n
n
o
t
h
an
d
le
t
h
e
m
o
t
io
n
o
f
t
h
e
4
5
0
Kg
v
e
h
icle.
An
o
t
h
e
r
s
i
m
p
le
an
d
g
o
o
d
d
esig
n
d
i
s
c
u
s
s
ed
h
er
e
u
s
e
s
o
n
l
y
1
4
R
C
-
s
e
r
v
o
m
o
to
r
s
i
n
to
tal.
A
s
i
m
ilar
d
es
ig
n
a
s
t
h
e
w
eb
x
i
s
t
h
e
s
o
ca
l
led
eg
g
s
h
ell
r
o
b
o
t.
T
h
is
r
o
b
o
t a
ls
o
u
s
e
s
s
i
m
p
le
R
C
-
s
er
v
o
m
o
to
r
s
a
n
d
s
h
o
w
s
s
o
m
e
v
er
y
p
r
o
m
i
s
in
g
w
al
k
i
n
g
b
eh
a
v
io
r
.
A
d
if
f
er
en
t
d
esig
n
ap
p
r
o
ac
h
w
h
er
e
t
h
e
leg
s
o
f
th
e
r
o
b
o
t
ar
e
p
lace
d
co
m
p
lete
ar
o
u
n
d
t
h
e
r
o
b
o
t
(
cir
cu
lar
b
o
d
y
)
.
T
h
is
h
as
th
e
ad
v
a
n
ta
g
e
o
f
b
ein
g
m
o
r
e
f
lex
ib
le
an
d
i
n
m
o
v
i
n
g
an
d
ac
h
ie
v
i
n
g
t
h
e
s
a
m
e
w
al
k
in
g
s
p
ee
d
s
i
n
all
d
ir
ec
tio
n
s
w
h
ic
h
is
n
ee
d
ed
f
o
r
th
e
R
o
b
o
C
u
p
r
o
b
o
t.
T
h
is
Hex
ate
u
th
is
ca
n
tu
r
n
ar
o
u
n
d
h
is
ax
i
s
at
a
h
i
g
h
v
elo
cit
y
[
3
]
.
2
.
2
.
L
eg
T
ra
j
ec
t
o
ry
P
la
nn
ing
T
h
e
w
al
k
i
n
g
alg
o
r
it
h
m
d
eter
m
in
es
th
e
r
o
b
o
t’
s
m
o
v
e
m
e
n
t,
t
h
e
lo
ad
o
f
th
e
r
o
b
o
t
en
g
i
n
e,
t
h
e
d
y
n
a
m
ic
s
o
f
p
o
w
er
co
n
s
u
m
p
tio
n
,
to
r
q
u
e
o
f
th
e
s
ep
ar
ate
r
ed
u
cto
r
s
,
e
tc.
T
h
e
w
a
y
o
f
m
o
v
i
n
g
th
e
l
eg
is
th
er
e
f
o
r
v
er
y
i
m
p
o
r
tan
t.
T
h
er
e
is
a
lo
t o
f
li
te
r
atu
r
e
th
e
leg
tr
aj
ec
to
r
y
al
g
o
r
ith
m
s
; t
h
e
y
v
ar
y
f
r
o
m
c
y
clic
g
e
n
etic
al
g
o
r
ith
m
s
to
r
elativ
e
s
i
m
p
le
c
y
clo
id
f
u
n
c
ti
o
n
s
.
T
h
e
ea
s
iest
w
a
y
f
o
r
a
leg
tr
aj
ec
to
r
y
g
e
n
er
atio
n
is
th
at
f
r
o
m
t
h
e
R
h
e
x
r
o
b
o
t
w
it
h
t
h
e
"
h
al
f
"
w
h
ee
l
d
esig
n
.
T
h
e
leg
ca
n
s
p
i
n
q
u
ic
k
l
y
cir
cu
lar
in
t
h
e
tr
a
n
s
f
er
p
h
a
s
e
to
g
et
b
ac
k
in
t
h
e
s
u
p
p
o
r
t
p
h
ase
[
1
]
.
Fo
r
th
e
g
e
n
er
al
3
DOF
leg
a
d
if
f
er
en
t
ap
p
r
o
ac
h
is
n
ee
d
ed
.
T
h
e
p
ath
w
a
y
o
f
t
h
e
ar
m
s
is
p
r
escr
ib
ed
in
o
r
d
er
to
a
m
o
v
e
m
en
t.
First
t
h
e
leg
in
v
er
s
e
k
i
n
e
m
atic
m
o
d
el
s
h
o
u
ld
b
e
d
esig
n
ed
w
h
er
e
t
h
e
j
o
in
t
an
g
les
ar
e
s
et
as
a
f
u
n
c
tio
n
o
f
th
e
le
g
tip
.
Ass
u
m
in
g
t
h
at
t
h
e
r
o
b
o
t
w
alk
s
i
n
th
e
tr
ip
o
d
g
ait,
ev
er
y
le
g
m
a
k
es
t
h
e
ex
ac
t
s
a
m
e
p
ath
,
o
n
l
y
o
n
e
g
r
o
u
p
o
f
le
g
s
is
h
al
f
a
p
er
io
d
d
ela
y
ed
i
n
ti
m
e.
On
e
g
r
o
u
p
i
s
s
tan
d
i
n
g
o
n
t
h
e
g
r
o
u
n
d
a
n
d
p
u
s
h
e
s
th
e
leg
s
b
ac
k
w
ar
d
s
,
an
d
th
e
o
th
er
s
ar
e
in
lif
ted
-
u
p
p
o
s
itio
n
an
d
m
o
v
e
f
o
r
w
ar
d
(
ass
u
m
i
n
g
t
h
e
r
o
b
o
t
w
al
k
s
f
o
r
w
ar
d
)
.
T
h
is
b
asic
ap
p
r
o
ac
h
ca
n
th
e
n
later
b
e
o
p
tim
ized
f
o
r
f
aster
,
s
tab
le
an
d
f
le
x
ib
le
w
al
k
i
n
g
,
w
h
ic
h
th
e
n
also
in
f
lu
e
n
ce
t
h
e
ef
f
icie
n
c
y
o
f
th
e
p
o
w
er
co
n
s
u
m
p
t
io
n
[
8
]
.
T
h
e
leg
tr
aj
e
cto
r
ies
ar
e
also
s
tu
d
ied
f
r
o
m
a
n
i
m
als.
B
y
l
in
k
i
n
g
th
e
b
io
lo
g
y
a
n
d
tech
n
ical
ap
p
licatio
n
.
W
alk
in
g
i
n
s
ec
ts
a
n
d
m
o
s
t
s
i
x
-
leg
g
ed
r
o
b
o
ts
r
eq
u
ir
e
s
s
i
m
u
lta
n
eo
u
s
co
n
tr
o
l
o
f
u
p
to
1
8
j
o
in
ts
.
A
s
i
m
p
le
m
o
d
el
o
f
a
s
t
ick
in
s
ec
t
le
g
co
n
s
is
ts
o
f
f
o
u
r
f
u
n
ctio
n
a
l
s
e
g
m
en
t
s
:
t
h
e
C
o
x
a,
t
h
e
f
e
m
u
r
,
t
h
e
tib
ia
an
d
th
e
f
o
o
t.
W
h
e
n
th
e
j
o
in
t
o
f
th
e
f
o
o
t
an
d
t
h
e
f
o
o
t
its
elf
ar
e
n
e
g
lecte
d
f
o
r
s
i
m
p
licit
y
,
a
s
t
ick
in
s
ec
t
le
g
ca
n
b
e
m
o
d
eled
as
a
m
an
ip
u
lato
r
w
it
h
th
r
ee
h
in
g
e
j
o
in
ts
r
es
u
lti
n
g
in
3
DOF,
w
h
ic
h
co
m
m
o
n
l
y
t
h
e
s
a
m
e
as a
h
e
x
ap
o
d
r
o
b
o
ts
leg
.
Fo
r
th
e
o
p
ti
m
izatio
n
o
f
t
h
e
le
g
tr
aj
ec
to
r
ies
d
if
f
er
en
t
tec
h
n
i
q
u
es
ar
e
f
o
u
n
d
.
T
h
e
FI
R
f
ilte
r
ap
p
r
o
ac
h
ex
p
lain
ed
i
n
.
A
f
in
ite
i
m
p
u
l
s
e
r
esp
o
n
s
e
(
FIR)
f
i
lter
is
a
t
y
p
e
o
f
a
d
is
cr
ete
-
ti
m
e
f
il
ter
.
W
ith
t
h
e
u
s
e
o
f
t
h
i
s
f
ilter
th
e
m
o
tio
n
g
ets
s
m
o
o
t
h
er
a
n
d
th
er
ef
o
r
e
also
m
o
r
e
e
f
f
icie
n
t.
Mo
r
e
liter
atu
r
e
f
o
r
o
p
ti
m
izatio
n
o
f
th
e
le
g
tr
aj
ec
to
r
y
is
f
o
u
n
d
w
ith
th
e
u
s
e
o
f
g
e
n
etic
a
lg
o
r
it
h
m
s
.
A
q
u
ick
a
n
d
co
n
v
er
g
i
n
g
alg
o
r
it
h
m
s
u
itab
le
f
o
r
an
y
-
ti
m
e
lear
n
i
n
g
.
C
y
clic
g
en
e
tic
alg
o
r
ith
m
s
ar
e
d
ev
elo
p
ed
w
ith
f
o
u
r
v
ar
iati
o
n
s
,
w
it
h
o
n
e
v
ar
i
atio
n
t
h
at
p
r
o
d
u
ce
s
an
o
p
ti
m
a
l
tr
ip
o
d
g
ait
w
h
ic
h
i
s
r
o
b
u
s
t
e
n
o
u
g
h
to
ad
ap
t
to
s
i
g
n
i
f
ica
n
t
c
h
a
n
g
e
s
i
n
t
h
e
ca
p
a
b
ilit
ies
o
f
t
h
e
r
o
b
o
t
m
o
d
el.
T
h
e
o
p
ti
m
izatio
n
ca
n
also
b
e
ac
h
ie
v
ed
b
y
s
o
f
t
co
m
p
u
tin
g
tec
h
n
iq
u
e
s
.
F
u
r
th
er
s
t
u
d
ies
ar
e
b
ased
o
n
poi
n
t
to
p
o
in
t
tr
a
j
ec
to
r
y
p
lan
n
in
g
a
n
d
th
e
an
d
h
o
w
to
m
a
k
e
ad
ap
t
t
r
aj
ec
t
o
r
ies
s
o
th
at
th
e
h
ex
ap
o
d
f
o
llo
w
s
a
ce
r
tain
li
n
e.
E
v
e
n
w
h
en
j
o
in
t
f
ail
u
r
e
h
ap
p
en
s
an
d
a
j
o
in
t
i
s
lo
ck
ed
th
e
r
o
b
o
t
ca
n
s
t
ill
w
a
lk
.
Or
ad
ap
tin
g
t
h
e
ce
n
ter
o
f
g
r
a
v
it
y
p
o
s
itio
n
o
f
t
h
e
r
o
b
o
t
w
it
h
r
esp
ec
t
to
th
e
f
ee
t
p
lace
m
e
n
t
i
n
o
r
d
er
to
s
tab
ilize
th
e
h
e
x
ap
o
d
,
an
d
o
f
co
u
r
s
e
o
p
ti
m
ized
al
g
o
r
ith
m
s
f
o
r
tu
r
n
in
g
[
4
]
.
2
.
3
.
Ro
bo
t
Co
ntr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
IJ
RA
Vo
l.
5
,
No
.
2
,
J
u
n
e
201
6
:
7
2
–
86
74
I
n
t
h
e
la
s
t
y
ea
r
s
t
h
er
e
h
as
b
ee
n
a
g
r
o
w
in
g
in
ter
e
s
t
i
n
th
e
ar
ea
o
f
le
g
g
ed
r
o
b
o
ts
.
E
s
p
ec
iall
y
in
t
h
e
g
ait
g
en
er
atio
n
m
ec
h
a
n
i
s
m
a
n
d
co
n
tr
o
l
o
f
t
h
is
m
ec
h
a
n
is
m
.
O
n
e
o
f
th
e
a
s
p
ec
ts
r
elate
d
w
it
h
t
h
e
co
n
tr
o
l
o
f
le
g
g
ed
r
o
b
o
ts
th
at
h
as
r
ec
eiv
ed
m
o
r
e
atten
tio
n
i
s
th
at
o
f
s
tatical
l
y
s
tab
le
g
aits
.
T
h
e
tas
k
o
f
s
u
c
h
a
g
ait
g
en
er
atio
n
m
ec
h
a
n
i
s
m
ca
n
b
e
d
ef
in
ed
a
s
ap
p
r
o
p
r
iate
s
eq
u
en
ce
o
f
l
eg
an
d
b
o
d
y
m
o
v
e
m
e
n
ts
s
o
t
h
at
th
e
r
o
b
o
t m
o
v
e
s
i
n
th
e
d
esire
d
s
p
ee
d
an
d
d
ir
ec
tio
n
to
r
ea
ch
h
i
s
tar
g
et.
T
h
e
co
n
tr
o
l
o
f
th
e
r
o
b
o
t
is
t
h
er
e
f
o
r
d
ir
ec
tl
y
co
n
n
ec
ted
to
th
e
leg
tr
aj
ec
to
r
y
p
la
n
n
in
g
t
h
er
ef
o
r
a
lo
t
o
f
liter
atu
r
e
i
s
f
o
u
n
d
f
o
r
b
o
th
.
I
n
th
e
l
iter
atu
r
e
o
f
leg
g
ed
r
o
b
o
ts
th
er
e
ar
e
m
an
y
d
i
f
f
er
en
t
ap
p
r
o
ac
h
es
to
i
m
p
le
m
en
t
co
n
tr
o
ller
s
f
o
r
w
a
v
e
g
ait
g
en
er
atio
n
.
A
g
ait
i
s
d
ef
in
ed
as
a
s
eq
u
e
n
ce
o
f
leg
m
o
tio
n
s
co
o
r
d
in
ate
w
it
h
a
s
eq
u
en
ce
o
f
b
o
d
y
m
o
tio
n
s
f
o
r
m
o
v
i
n
g
th
e
o
v
er
all
b
o
d
y
o
f
th
e
r
o
b
o
t
in
t
h
e
d
esire
d
d
ir
ec
t
io
n
an
d
o
r
ien
tatio
n
f
r
o
m
o
n
e
p
lace
to
an
o
th
e
r
.
So
m
e
ex
a
m
p
les
f
o
u
n
d
in
th
e
liter
atu
r
e
ar
e
f
o
r
in
s
ta
n
ce
t
h
e
p
er
io
d
ic
g
aits
,
f
r
ee
g
aits
o
r
a
co
m
b
in
atio
n
o
f
b
o
th
ap
p
r
o
ac
h
es.
A
g
ait
i
s
ca
lled
p
er
io
d
ic
w
h
en
s
i
m
ilar
s
tate
s
o
f
t
h
e
s
a
m
e
le
g
d
u
r
in
g
s
u
cc
ess
iv
e
s
tr
o
k
e
s
o
cc
u
r
at
th
e
s
a
m
e
i
n
ter
v
al
f
o
r
all
leg
s
.
T
h
e
f
r
ee
g
a
it
o
r
also
ca
lled
n
o
n
-
p
er
io
d
ic
g
ait
is
w
h
en
ea
c
h
leg
ca
n
m
o
v
e
o
n
a
f
r
ee
ch
o
s
e
n
in
ter
v
al
a
n
d
o
w
n
s
tr
o
k
e
alg
o
r
ith
m
.
P
er
io
d
ic
g
aits
ar
e
s
u
itab
le
f
o
r
s
m
o
o
t
h
ter
r
ai
n
a
n
d
t
h
e
y
h
a
v
e
b
ee
n
s
tu
d
ied
b
y
s
e
v
er
al
i
n
v
esti
g
a
to
r
s
,
s
o
m
e
w
h
ich
ar
e
w
o
r
t
h
m
e
n
tio
n
in
g
ar
e:
So
n
g
an
d
W
ald
r
o
n
,
Z
a
n
g
an
d
So
n
g
.
T
h
e
f
r
ee
g
aits
o
n
th
e
o
th
er
h
an
d
,
ar
e
m
u
c
h
m
o
r
e
e
f
f
ec
ti
v
e
o
n
r
o
u
g
h
ter
r
ain
w
it
h
o
b
s
tacle
s
.
A
lo
t
o
f
r
esear
ch
i
s
d
o
n
e
o
n
f
r
ee
g
ait
s
to
f
i
n
d
g
r
ap
h
ical
a
n
d
an
al
y
tical
m
et
h
o
d
s
.
T
h
e
d
if
f
ic
u
lt
y
w
it
h
th
e
s
e
m
et
h
o
d
s
is
t
h
e
co
m
p
le
x
it
y
an
d
i
n
ter
ac
tio
n
s
.
T
h
er
ef
o
r
g
en
etic
alg
o
r
ith
m
s
(
GAs)
ar
e
m
o
s
t
l
y
u
s
ed
f
o
r
f
r
ee
g
ait
i
m
p
le
m
en
ta
tio
n
.
G
A
ar
e
p
o
p
u
latio
n
-
b
ased
s
ea
r
ch
an
d
o
p
ti
m
izatio
n
tec
h
n
iq
u
es
w
h
ic
h
w
o
r
k
o
n
Dar
w
i
n
’
s
p
r
in
cip
le
o
f
n
atu
r
al
s
el
ec
tio
n
.
GA
h
as
s
h
o
w
n
to
b
e
a
p
o
w
er
f
u
l
to
o
l
f
o
r
g
lo
b
al
o
p
tim
izatio
n
an
d
h
as
b
ee
n
u
s
ed
as
k
e
y
ele
m
en
t
s
i
n
m
a
n
y
l
ea
r
n
in
g
tec
h
n
iq
u
e
s
.
An
o
th
er
w
a
y
t
h
en
u
s
in
g
G
A
i
s
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
(
F
L
C
)
,
a
p
o
ten
tial
to
o
l
f
o
r
h
a
n
d
in
g
i
m
p
r
ec
is
io
n
an
d
u
n
ce
r
tai
n
t
y
[
4
]
.
Th
e
r
o
b
o
ts
leg
al
s
o
h
a
s
a
s
e
p
ar
ate
co
n
tr
o
l
f
o
r
t
h
e
d
y
n
a
m
ics
o
f
f
o
o
t
-
g
r
o
u
n
d
in
ter
ac
tio
n
.
Her
e
an
alg
o
r
ith
m
i
s
ad
o
p
ted
w
it
h
f
o
o
t
-
f
o
r
ce
f
ee
d
b
ac
k
co
n
tr
o
l
f
o
r
th
e
r
o
b
o
ts
lo
co
m
o
tio
n
.
T
h
e
d
iv
is
io
n
o
f
th
e
le
g
’
s
p
ath
w
a
y
ca
n
b
e
o
p
ti
m
ized
b
y
FIR
f
ilter
i
n
g
s
o
t
h
at
t
h
e
l
e
g
p
a
th
w
a
y
g
ets
a
m
o
r
e
e
f
f
icie
n
t
tr
a
j
ec
to
r
y
g
e
n
er
atio
n
.
A
l
s
o
u
s
i
n
g
th
e
tec
h
n
iq
u
es
o
f
s
o
f
t
co
m
p
u
tin
g
w
ill
i
m
p
r
o
v
e
th
e
leg
s
p
ee
d
,
th
i
s
is
d
o
n
e
b
y
o
n
-
li
n
e
tr
aj
ec
to
r
y
g
en
er
atio
n
,
s
ee
ch
ap
ter
7
.
Mo
s
t
o
f
th
e
s
tu
d
ie
s
f
o
c
u
s
ed
o
n
th
e
co
n
tr
o
l
at
th
e
leg
le
v
el
a
n
d
le
g
co
o
r
d
in
atio
n
u
s
i
n
g
n
eu
r
al
n
et
w
o
r
k
s
,
f
u
zz
y
lo
g
ic,
an
d
h
y
b
r
id
f
o
r
ce
/p
o
s
iti
o
n
co
n
tr
o
l
an
d
s
u
b
-
as
s
u
m
p
tio
n
ar
ch
itect
u
r
e.
T
h
e
co
n
tr
o
l
at
th
e
j
o
in
t
lev
el
is
al
m
o
s
t
al
w
a
y
s
i
m
p
le
m
en
ted
u
s
i
n
g
a
P
I
D
s
ch
e
m
e.
A
s
e
m
i
-
au
t
o
n
o
m
o
u
s
s
i
x
-
leg
g
ed
w
al
k
i
n
g
m
ac
h
i
n
e
w
it
h
h
ex
a
g
o
n
a
l
ar
ch
itect
u
r
e
h
a
s
b
ee
n
d
e
v
elo
p
ed
f
o
r
r
esear
ch
o
n
g
ait
co
n
tr
o
l
is
d
escr
ib
ed
.
T
h
e
m
ac
h
i
n
e
w
ei
g
h
s
1
3
k
g
;
e
ac
h
le
g
h
a
s
t
h
r
ee
DOF
w
i
th
cl
o
s
ed
-
lo
o
p
k
in
e
m
atic
s
.
T
h
e
k
i
n
e
m
atic
s
is
d
esi
g
n
ed
to
ac
h
iev
e
g
r
a
v
itatio
n
a
l
d
ec
o
u
p
lin
g
,
w
h
ic
h
s
i
m
p
li
f
ies
co
n
s
id
er
ab
ly
t
h
e
v
el
o
cit
y
co
n
tr
o
l
o
f
th
e
leg
s
.
T
h
e
co
n
tr
o
l a
r
ch
itectu
r
e
i
s
d
ec
en
tr
alize
d
,
ea
ch
leg
b
ein
g
co
n
tr
o
ll
ed
b
y
a
s
ep
ar
ate
m
icr
o
co
n
tr
o
l
ler
[
6
]
.
3.
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
h
ex
ap
o
d
r
o
b
o
tic
s
y
s
te
m
p
r
esen
ted
in
th
i
s
p
ap
er
is
d
ev
elo
p
ed
b
ea
r
in
g
in
m
i
n
d
s
ev
er
al
ab
ilit
ies
s
u
c
h
as,
m
o
v
i
n
g
o
n
ir
r
e
g
u
l
ar
p
ath
s
,
o
v
er
co
m
in
g
o
b
s
tac
les,
cli
m
b
i
n
g
an
d
g
o
i
n
g
d
o
w
n
s
tair
s
,
w
ith
o
u
t
co
m
p
r
o
m
is
i
n
g
i
ts
s
tab
il
it
y
a
n
d
k
ee
p
in
g
a
lo
w
o
v
er
al
l
w
eig
h
.
Af
ter
s
e
v
er
al
iter
atio
n
s
,
a
g
e
o
m
e
tr
ic
m
o
d
el
w
a
s
ac
h
ie
v
ed
,
as
it
is
s
h
o
w
n
in
t
h
e
f
i
g
u
r
e
1
.
T
h
e
m
ec
h
an
ica
l
s
tr
u
ct
u
r
e
o
f
th
e
h
e
x
ap
o
d
r
o
b
o
t
co
n
s
is
ts
o
f
o
n
e
r
i
g
id
,
lo
ad
ca
r
r
y
in
g
m
ai
n
f
r
a
m
e
w
i
th
s
i
x
le
g
s
,
s
i
m
ilar
an
d
s
y
m
m
etr
icall
y
d
is
tr
ib
u
ted
.
E
a
ch
le
g
is
co
m
p
o
s
ed
b
y
th
r
ee
lin
k
s
,
in
ter
co
n
n
ec
ted
b
y
t
w
o
r
ev
o
lu
te
j
o
in
t
s
a
n
d
attac
h
ed
to
t
h
e
m
a
in
b
o
d
y
b
y
m
ea
n
s
o
f
a
t
h
ir
d
r
ev
o
lu
te
j
o
in
t
.
R
ev
o
l
u
te
m
o
to
r
s
an
d
li
n
ea
r
a
ctu
ato
r
s
ac
co
m
p
li
s
h
tr
ac
tio
n
m
o
v
e
m
e
n
t
a
n
d
ele
v
ati
o
n
,
r
esp
ec
tiv
el
y
.
T
h
e
f
o
o
t
o
f
e
ac
h
le
g
i
s
r
i
g
id
l
y
attac
h
ed
.
T
h
e
m
ai
n
d
i
m
e
n
s
io
n
s
o
f
th
e
m
o
d
el
ar
e
len
g
th
≈
8
.
3
5
in
ch
es,
w
id
t
h
≈
3
.
5
4
in
ch
es
an
d
h
ei
g
h
t
≈
5
.
1
5
in
ch
e
s
.
T
h
is
m
o
d
el
is
u
s
ed
to
g
en
er
ate
ele
m
e
n
tar
y
lo
co
m
o
ti
o
n
b
eh
av
io
r
.
Fo
r
an
N
r
ig
id
b
o
d
y
s
y
s
te
m
t
h
e
m
o
b
ili
t
y
o
r
th
e
n
u
m
b
er
o
f
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
DOF)
is
g
i
v
en
b
y
Gr
u
eb
ler
&
K
u
tzb
ac
h
E
q
u
at
io
n
s
.
3
.
1
.
M
ec
ha
nica
l
M
o
del
T
h
is
ch
ap
ter
d
escr
ib
es
th
e
m
ath
e
m
atica
l
m
o
d
el
o
f
t
h
e
h
e
x
ap
o
d
p
latf
o
r
m
s
u
s
ed
in
t
h
is
t
h
esi
s
.
T
h
is
in
cl
u
d
es
a
f
u
l
l
k
i
n
e
m
atic
d
esc
r
ip
tio
n
as
w
ell
a
s
a
d
ef
i
n
itio
n
o
f
th
e
lo
ca
l
f
r
a
m
es
o
f
th
e
co
m
p
o
n
en
ts
a
n
d
th
eir
r
elatio
n
s
h
ip
a
m
o
n
g
s
t e
ac
h
o
t
h
er
.
3
.
2
.
B
o
dy
M
o
del
T
h
is
ch
ap
ter
d
escr
ib
es
th
e
m
ath
e
m
atica
l
m
o
d
el
o
f
t
h
e
h
e
x
ap
o
d
p
latf
o
r
m
s
u
s
ed
in
t
h
is
t
h
esi
s
.
T
h
is
in
cl
u
d
es
a
f
u
l
l
k
i
n
e
m
atic
d
esc
r
ip
tio
n
as
w
ell
a
s
a
d
ef
i
n
itio
n
o
f
th
e
lo
ca
l
f
r
a
m
es
o
f
th
e
co
m
p
o
n
en
ts
a
n
d
th
eir
r
elatio
n
s
h
ip
a
m
o
n
g
s
t e
ac
h
o
t
h
er
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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at
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s
m
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s
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n
b
e
s
i
m
u
lated
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th
e
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m
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li
n
k
e
n
v
ir
o
n
m
e
n
t
in
o
r
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er
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e
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b
l
y
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w
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ile
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to
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as
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o
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ac
ili
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s
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ab
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s
tall
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ap
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iate
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in
Si
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w
h
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h
i
m
p
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e
3
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ll
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m
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ies,
j
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ts
,
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d
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as
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to
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el.
3
.
5
.
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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r
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RE
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atter
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m
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r
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u
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g
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eg
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3
).
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Co
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”
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2
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3
IEE
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S
J
In
tern
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telli
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ROS)
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-
7
,
2
0
1
3
.
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o
k
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o
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p
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n
.
[
4
]
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Da
ll
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C.
Ke
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.
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c
.
[
5
]
Ha
it
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,
Y.,
W
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G
.
,
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g
,
D.,
M
a
n
ti
a
n
,
L
.
,
&
He
g
a
o
,
C.
(2
0
1
3
).
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A CP
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-
b
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d
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c
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m
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A
rc
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x
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p
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d
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b
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t”.
2
0
1
3
IEE
E/
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J In
tern
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ti
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a
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C
o
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f
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n
c
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tel
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g
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t
Ro
b
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ts
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d
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ste
m
s (IROS
)
.
[
6
]
Ka
ti
e
g
ra
c
e
Yo
u
n
g
sm
a
(2
0
1
2
).
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v
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lo
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m
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t
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f
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d
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a
M
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lar R
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[
7
]
L
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m
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a
id
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d
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m
e
d
ien
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L
a
ti
fa
(2
0
1
1
).
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li
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g
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d
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o
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b
.
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p
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s o
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A
TL
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S
c
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c
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d
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n
g
in
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e
rin
g
”
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n
T
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a
.
[
8
]
Jo
h
n
S
c
h
m
it
t,
Ra
ff
a
e
le
G
h
ig
li
a
z
z
a
,
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stin
S
e
ip
e
l
(2
0
0
9
).
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u
ro
m
e
c
h
a
n
ica
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m
o
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:H
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ly
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in
k
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it
”
.
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n
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c
isio
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g
,
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b
1
5
-
1
6
,
2
0
0
9
.
[
9
]
A
u
k
e
J
a
n
Ijsp
e
e
rt
(2
0
0
8
).
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n
tr
a
l
p
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ra
to
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l
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c
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m
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ti
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n
c
o
n
tro
l
in
a
n
im
a
ls
a
n
d
ro
b
o
ts:
A
re
v
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w
”
.
2
1
.
2
0
0
8
Ne
u
ra
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Ne
tw
o
rk
s.
[
1
0
]
A
rth
u
r
d
.
Ku
o
(2
0
0
2
),
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h
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re
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f
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m
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ts”
,
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tro
l,
2
0
0
2
,
6
,
1
2
9
-
1
4
5
[
1
1
]
Ig
o
r
A
ize
n
b
e
rg
(2
0
0
1
),
“
a
d
v
a
n
c
e
s in
n
e
u
ra
l
n
e
tw
o
rk
s”
,
T
e
m
p
u
s P
r
o
jec
t
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