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I
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:
2
0
8
9
-
4856
IJ
RA
Vo
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4
,
No
.
2
,
J
u
n
e
201
5
:
93
–
97
94
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t
u
al
s
i
m
u
lat
io
n
an
d
t
h
e
s
i
m
p
le
co
n
tr
o
l
s
y
s
te
m
w
a
s
e
x
p
er
i
m
e
n
tall
y
v
al
id
ated
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
h
ip
leg
d
esi
g
n
is
a
n
i
m
p
o
r
tan
t a
r
ea
i
n
b
ip
ed
r
o
b
o
ts
as it in
v
o
l
v
es t
h
e
s
tatic
a
n
d
d
y
n
a
m
i
c
s
tab
ilit
y
,
an
d
th
e
m
o
tio
n
tr
an
s
m
is
s
io
n
.
Ma
n
y
n
o
v
el
w
o
r
k
s
h
as
b
ee
n
d
o
n
e
in
th
e
d
esi
g
n
o
f
t
h
e
h
ip
an
d
leg
in
b
ip
ed
s
.
T
h
e
b
elt
tr
ain
d
r
iv
es
ar
e
m
o
s
t
l
y
u
s
ed
f
o
r
th
e
m
o
tio
n
tr
a
n
s
m
is
s
io
n
f
r
o
m
t
h
e
D
C
s
tep
p
er
m
o
to
r
s
to
th
e
leg
[
M.
R
ez
a
E
m
a
m
i e
t a
l 2
0
1
4
].
T
h
e
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
is
d
esig
n
ed
to
r
ed
u
ce
th
e
m
ec
h
an
ical
s
tr
u
ct
u
r
e
o
f
t
h
e
u
p
p
er
leg
.
I
n
t
h
e
d
esig
n
,
th
e
m
o
v
e
m
e
n
t
o
f
b
o
th
th
e
u
p
p
er
leg
o
f
a
b
ip
ed
r
o
b
o
t
h
as
b
ee
n
tr
ied
t
o
ac
h
iev
e
w
it
h
a
s
in
g
le
D
C
s
tep
p
er
m
o
to
r
.
T
h
is
is
d
o
n
e
b
y
r
o
tati
n
g
t
h
e
DC
s
tep
p
er
m
o
to
r
d
is
cr
etely
in
b
o
th
d
ir
ec
tio
n
s
(
clo
ck
w
i
s
e
an
d
an
ti
-
clo
ck
w
i
s
e)
.
T
h
e
DC
s
tep
p
er
m
o
to
r
is
co
n
n
ec
ted
b
y
th
e
m
icr
o
co
n
tr
o
ller
an
d
a
p
r
o
g
r
a
m
m
ed
m
icr
o
p
r
o
ce
s
s
o
r
.
T
h
is
s
ep
ar
ate
d
ir
ec
tio
n
al
m
o
tio
n
is
u
ti
lized
w
it
h
n
ec
es
s
ar
y
g
ea
r
ar
r
an
g
e
m
en
ts
to
m
o
v
e
b
o
th
th
e
u
p
p
er
leg
li
n
k
s
o
f
t
h
e
h
ip
j
o
in
t
o
n
e
at
a
ti
m
e.
T
h
e
g
ea
r
ar
r
an
g
e
m
e
n
t
is
d
esi
g
n
ed
u
s
i
n
g
t
h
e
s
o
f
t
w
ar
e
C
atia
-
v
5
d
ev
elo
p
ed
b
y
Dess
a
u
lt
s
y
s
te
m
s
.
T
h
is
p
ap
er
is
s
ettled
w
i
th
th
e
d
esi
g
n
a
n
d
co
n
tr
o
l
o
f
p
lan
ar
b
ip
ed
s
w
h
ic
h
ca
n
w
alk
i
n
o
n
l
y
i
n
o
n
e
d
ir
ec
ti
o
n
,
eith
er
f
o
r
w
ar
d
o
r
b
ac
k
w
ar
d
w
it
h
a
s
i
n
g
l
e
D
C
m
o
to
r
.
2
.
1
C
o
ntr
o
l
Sy
s
t
em
T
h
e
co
n
tr
o
l
s
y
s
te
m
w
as
d
ev
el
o
p
ed
k
ee
p
in
g
co
s
t
an
d
ea
s
y
o
p
er
atio
n
in
m
i
n
d
w
h
ile
th
e
co
n
v
e
n
tio
n
al
f
u
n
ctio
n
alit
y
i
s
n
o
t
i
m
p
ac
ted
in
t
h
e
b
ip
ed
r
o
b
o
t.
T
h
e
en
tire
s
y
s
te
m
d
ev
e
lo
p
ed
is
r
ep
r
esen
ted
b
y
th
e
b
lo
ck
d
iag
r
a
m
(
Fig
u
r
e
1
)
.
T
h
e
co
n
tr
o
l
s
y
s
te
m
co
n
s
is
ted
o
f
a
m
icr
o
co
n
tr
o
ller
,
m
icr
o
p
r
o
ce
s
s
o
r
,
an
d
v
ib
r
atio
n
r
ed
u
ctio
n
DC
s
tep
p
er
m
o
to
r
.
T
h
e
o
p
e
r
atio
n
al
co
d
es
w
er
e
f
i
r
s
t
p
r
o
g
r
am
m
ed
in
a
s
s
e
m
b
l
y
l
an
g
u
a
g
e
as
p
er
th
e
r
eq
u
ir
e
m
en
t.
I
t
w
a
s
t
h
e
n
f
ed
m
a
n
u
all
y
to
t
h
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
icr
o
co
n
tr
o
ller
was
co
n
n
ec
ted
to
th
e
m
icr
o
p
r
o
ce
s
s
o
r
w
h
ic
h
p
r
o
ce
s
s
ed
th
e
s
et
o
f
co
d
es
in
th
e
m
icr
o
p
r
o
ce
s
s
o
r
an
d
th
er
eb
y
s
en
t
el
ec
tr
ic
p
u
ls
e
s
i
g
n
al
s
to
th
e
DC
s
tep
p
er
m
o
to
r
co
n
n
ec
ted
,
w
h
ich
t
h
en
r
o
tates
f
o
r
th
e
d
ef
i
n
ed
s
to
p
s
as
p
r
o
v
id
e
d
in
th
e
o
p
er
atio
n
al
co
d
es.
T
h
e
id
lin
g
ti
m
e
w
a
s
s
p
ec
if
ied
i
n
t
h
e
co
d
e
b
ef
o
r
e
t
h
e
s
tep
p
er
m
o
to
r
r
o
tates
i
n
th
e
o
p
p
o
s
ite
d
ir
ec
tio
n
.
T
h
e
s
p
ec
if
ic
r
o
tatio
n
co
u
ld
b
e
ch
an
g
ed
in
ac
co
r
d
an
ce
to
th
e
r
eq
u
ir
e
m
e
n
t
in
t
h
e
r
ea
l
ti
m
e
p
r
o
ce
s
s
.
T
h
is
m
o
tio
n
o
f
th
e
DC
s
tep
p
er
m
o
to
r
ca
n
th
en
b
e
tr
an
s
m
it
ted
to
th
e
n
e
w
g
ea
r
tr
ain
d
esig
n
ed
w
h
ic
h
w
o
u
ld
g
i
v
e
m
o
tio
n
to
b
o
th
th
e
u
p
p
er
le
g
li
n
k
s
o
f
th
e
h
ip
j
o
in
t
o
f
t
h
e
b
ip
ed
r
o
b
o
t.
T
h
er
e
w
er
e
t
w
o
s
et
o
f
o
p
er
ati
o
n
al
co
d
es
t
h
at
w
as
p
r
o
g
r
am
m
ed
.
T
h
e
f
ir
s
t
s
et
o
f
co
d
es
g
iv
es
t
h
e
clo
ck
w
i
s
e
m
o
tio
n
to
th
e
s
tep
p
er
m
o
to
r
w
h
ile
th
e
s
ec
o
n
d
s
et
o
f
co
d
es
w
as
g
i
v
i
n
g
t
h
e
an
ti
-
clo
c
k
w
is
e
m
o
tio
n
to
th
e
s
a
m
e
D
C
s
tep
p
er
m
o
to
r
.
T
h
is
w
o
u
ld
r
ed
u
ce
th
e
u
s
e
o
f
t
h
e
s
ec
o
n
d
s
tep
p
er
m
o
to
r
th
at
p
r
o
v
id
ed
th
e
m
o
tio
n
to
t
h
e
o
th
er
l
eg
.
T
h
e
o
p
er
atio
n
al
co
d
e
th
at
w
a
s
p
r
o
g
r
a
m
m
ed
is
m
en
tio
n
ed
b
elo
w
an
d
th
eir
f
u
n
ctio
n
alit
y
is
th
e
n
d
is
cu
s
s
ed
.
T
h
e
co
n
f
ig
u
r
atio
n
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
i
s
s
p
ec
if
ied
b
elo
w
.
1
.
Step
p
er
m
o
to
r
-
T
YP
E
–
S
T
M
-
6
0
1
,
I
NP
U
T
/VOL
T
A
GE
–
1
2
V,
DC
/A
MP
–
0
.
5
A
,
T
OR
QUE
–
2
k
g
2
.
Mic
r
o
co
n
tr
o
ller
-
T
YP
E
–
8255
3
.
Mic
r
o
p
r
o
ce
s
s
o
r
-
T
Y
P
E
–
DYN
A
-
85
Fig
u
r
e
1
.
T
h
e
en
tire
d
ev
elo
p
ed
s
y
s
te
m
2
.
1
.
1
O
pera
t
io
na
l
C
o
de
P
ro
g
ra
m
C
o
d
in
g
f
o
r
th
e
m
icr
o
-
p
r
o
ce
s
s
o
r
to
ex
ec
u
te
th
e
m
o
to
r
f
o
r
8
s
tep
s
(
f
ir
s
t
in
clo
ck
w
i
s
e
d
ir
ec
tio
n
an
d
th
en
i
n
a
n
ti
-
clo
ck
w
i
s
e
d
ir
ec
tio
n
)
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IJ
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i
s
d
esig
n
ed
f
o
r
t
h
e
an
t
i
-
c
lo
ck
w
i
s
e
r
o
tatio
n
/c
y
cle
o
r
s
tep
s
f
o
r
th
e
D
C
m
o
to
r
.
C
0
3
7
MV
I
C
,
0
8
H
\
\
T
h
e
r
esis
to
r
i
s
u
s
ed
as
a
co
u
n
ter
,
8
i
s
t
h
e
n
u
m
b
er
o
f
co
u
n
t o
f
s
tep
s
in
a
n
ti
-
clo
ck
w
i
s
e
o
f
th
e
m
o
to
r
.
C
0
3
9
MV
I
A
,
F9
\
\
L
o
a
d
th
e
F9
co
m
m
a
n
d
.
C
0
4
1
OUT
1
0
\
\
P
o
r
t A
i
s
ac
ce
s
s
ed
to
s
e
n
d
th
e
co
m
m
an
d
.
C
0
4
3
C
AL
L
0
5
,
F1
\
\
De
la
y
th
e
p
r
o
g
r
a
m
to
r
u
n
t
h
e
p
r
ev
io
u
s
s
tep
.
C
0
4
6
MV
I
A
,
F5
\
\
L
o
ad
th
e
F5
co
m
m
a
n
d
.
C
0
4
8
OUT
1
0
\
\
P
o
r
t A
is
ac
ce
s
s
ed
to
s
en
d
t
h
e
co
m
m
an
d
.
C
0
5
0
C
AL
L
0
5
,
F1
\
\
D
ela
y
th
e
p
r
o
g
r
a
m
to
r
u
n
t
h
e
p
r
ev
io
u
s
s
tep
.
C
0
5
3
MV
I
A
,
F6
\
\
L
o
ad
th
e
F6
co
m
m
a
n
d
.
C
0
5
5
OUT
1
0
\
\
P
o
r
t A
is
ac
ce
s
s
ed
to
s
en
d
t
h
e
co
m
m
an
d
.
C
0
5
7
C
AL
L
0
5
,
F1
\
\
D
ela
y
th
e
p
r
o
g
r
a
m
to
r
u
n
t
h
e
p
r
ev
io
u
s
s
tep
.
C
0
6
0
MV
I
A
,
F
A
\
\
L
o
ad
th
e
F
A
co
m
m
an
d
.
C
0
6
2
OUT
1
0
\
\
P
o
r
t A
is
ac
ce
s
s
ed
to
s
en
d
th
e
c
o
m
m
a
n
d
.
C
0
6
4
C
AL
L
0
5
,
F1
\
\
D
ela
y
th
e
p
r
o
g
r
a
m
to
r
u
n
t
h
e
p
r
ev
io
u
s
s
tep
.
C
0
6
7
DC
R
C
\
\
D
ec
r
e
m
en
t
R
esi
s
to
r
C
o
u
n
t.
C
0
6
8
J
NZ
C
0
0
6
\
\
J
u
m
p
No
t Z
er
o
u
n
til
C
0
0
6
.
C
0
7
1
HAL
T
\
\
S
to
p
s
th
e
p
r
o
g
r
a
m
.
OPT
C
ODE
(
f
o
r
clo
ck
-
w
i
s
e
s
t
ep
s
/c
y
cles)
3
E
8
0
D3
1
3
0
E
0
8
3
E
F
A
D3
1
0
C
D
F1
0
5
3
E
F6
D3
1
0
C
D
F1
0
5
3
E
F5
D3
1
0
C
D
F1
0
5
3
E
F9
D3
1
0
C
D
F1
0
5
0
D
C
2
0
6
C
0
OPT
C
ODE
(
f
o
r
an
ti
-
c
lo
ck
w
i
s
e
s
tep
s
/c
y
cles)
:
-
0
E
0
8
3
E
F9
D3
1
0
C
D
F1
0
5
3
E
F5
D3
1
0
C
D
F1
0
5
3
E
F6
D3
1
0
C
D
F1
0
5
3
E
F
A
D3
1
0
C
D
F1
0
5
0
D
C
2
0
6
C
0
C
F
2
.
2
.
Desig
n Sy
s
t
e
m
2
.
2
.
1
.
T
he
G
ea
r
M
ec
ha
nis
m
T
h
e
g
ea
r
ar
r
an
g
e
m
e
n
t
tr
a
n
s
m
its
m
o
tio
n
to
th
e
u
p
p
er
leg
li
n
k
s
o
f
t
h
e
h
ip
j
o
in
t
in
t
h
e
b
i
p
ed
r
o
b
o
t.
Ma
n
y
n
o
v
el
w
o
r
k
s
h
a
s
b
ee
n
d
o
n
e
in
t
h
e
tr
a
n
s
m
is
s
io
n
o
f
t
h
e
m
o
tio
n
f
r
o
m
t
h
e
m
o
to
r
u
s
i
n
g
b
elt
-
ch
ai
n
d
r
i
v
e.
T
h
e
g
ea
r
ar
r
an
g
e
m
en
t
w
as
d
e
s
ig
n
ed
co
n
s
i
d
er
i
n
g
t
w
o
f
ac
to
r
s
-
(
1
)
th
e
m
o
tio
n
w
o
u
ld
b
e
m
o
r
e
p
r
ec
is
e
an
d
(
2
)
th
e
f
u
l
f
ill
m
e
n
t
o
f
t
h
e
id
ea
o
f
u
s
in
g
o
n
e
s
tep
p
er
m
o
to
r
to
m
o
v
e
b
o
th
th
e
le
g
s
.
T
h
e
g
ea
r
ar
r
an
g
e
m
e
n
t
co
n
s
is
te
d
o
f
a
co
m
p
o
u
n
d
g
ea
r
tr
ain
[
Ro
n
a
ld
V
a
n
Ha
m
*
e
t
a
l
2
0
0
7
]
an
d
a
r
ev
er
ted
g
ea
r
tr
ain
[
R
o
n
a
ld
Va
n
Ha
m
*
e
t
a
l
2
0
0
7
]
.
T
h
er
e
ar
e
3
co
m
p
o
u
n
d
g
ea
r
s
t
h
at
w
er
e
d
esig
n
ed
u
s
in
g
C
at
ia
v
5
,
o
n
e
d
r
iv
in
g
g
ea
r
an
d
t
w
o
d
r
iv
en
g
ea
r
s
.
T
h
e
f
ir
s
t
g
ea
r
th
at
w
o
u
ld
attac
h
d
ir
ec
tl
y
to
th
e
s
tep
p
er
m
o
to
r
(
ca
lled
as
d
r
iv
in
g
g
ea
r
)
w
as
d
esig
n
ed
s
ee
i
n
g
a
h
er
r
in
g
b
o
n
e
g
ea
r
p
r
o
f
ile.
T
h
e
p
r
o
f
ile
w
as
ch
o
s
e
n
as
t
h
is
w
o
u
ld
g
i
v
e
m
o
t
io
n
in
o
n
l
y
o
n
e
d
ir
ec
tio
n
.
T
h
e
h
er
r
in
g
b
o
n
e
g
ea
r
p
r
o
f
ile
w
as
d
esig
n
ed
in
t
h
i
s
d
r
iv
i
n
g
g
ea
r
,
b
o
th
in
t
h
e
o
u
ter
p
er
ip
h
er
al
p
lan
e
an
d
al
s
o
in
th
e
r
ad
ial
p
lan
e
[
Fi
g
u
r
e
2
]
.
T
h
er
e
af
ter
a
n
o
th
er
s
i
m
ilar
h
er
r
in
g
b
o
n
e
g
ea
r
w
a
s
d
esi
g
n
ed
(
ca
ll
ed
as
d
r
iv
e
n
g
ea
r
)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
2
,
J
u
n
e
201
5
:
93
–
97
96
T
h
e
o
u
ter
p
er
ip
h
er
al
p
lan
e
o
f
th
is
f
ir
s
t d
r
i
v
en
g
ea
r
w
as d
esi
g
n
ed
in
s
p
u
r
g
ea
r
ar
r
an
g
e
m
e
n
t
an
d
th
e
r
ad
ial
p
lan
e
w
a
s
d
esig
n
ed
in
h
er
r
in
g
b
o
n
e
p
r
o
f
ile
[
Fig
u
r
e
3
]
.
T
h
is
r
ad
ial
h
er
r
in
g
b
o
n
e
g
ea
r
p
r
o
f
ile
o
f
th
is
f
ir
s
t
d
r
iv
en
g
ea
r
m
es
h
es
w
i
th
t
h
e
r
ad
ial
h
er
r
in
g
b
o
n
e
p
r
o
f
ile
o
f
th
e
d
r
iv
i
n
g
g
e
ar
.
T
h
er
e
af
ter
th
e
s
ec
o
n
d
d
r
iv
en
g
ea
r
is
d
esi
g
n
ed
w
h
er
e
o
u
ter
p
er
ip
h
er
y
h
ad
s
p
u
r
g
ea
r
p
r
o
f
ile
a
n
d
th
e
i
n
n
er
p
er
ip
h
er
y
h
ad
h
er
r
i
n
g
b
o
n
e
g
e
ar
m
es
h
[
Fi
g
u
r
e
4
]
.
T
h
is
in
n
er
p
er
ip
h
er
y
o
f
th
is
s
ec
o
n
d
d
r
iv
en
g
ea
r
m
e
s
h
e
s
w
i
t
h
t
h
e
h
er
r
in
g
b
o
n
e
p
er
ip
h
er
al
g
ea
r
ar
r
an
g
e
m
e
n
t
o
f
th
e
d
r
iv
i
n
g
g
ea
r
.
I
n
th
e
r
ad
ial
p
lan
e
o
f
th
is
d
r
iv
i
n
g
g
ea
r
,
a
s
i
m
ilar
h
er
r
in
g
b
o
n
e
d
r
iv
en
g
ea
r
w
a
s
d
esi
g
n
ed
p
air
ed
w
h
o
s
e
o
u
ter
c
y
lin
d
r
ical
p
lan
e
h
a
s
s
p
u
r
g
ea
r
ar
r
a
n
g
e
m
e
n
t.
T
h
is
s
p
u
r
g
ea
r
is
attac
h
ed
to
a
n
o
th
er
p
in
io
n
s
p
u
r
g
ea
r
w
h
er
e
th
e
u
p
p
er
leg
lin
k
o
f
t
h
e
h
ip
j
o
in
t is attac
h
ed
.
T
h
is
m
ec
h
an
i
s
m
w
o
u
ld
p
r
o
v
id
e
m
o
tio
n
to
o
n
e
d
r
i
v
en
g
ea
r
wh
ile
t
h
e
o
th
er
r
e
m
ain
s
s
ta
tio
n
a
r
y
.
Ag
ai
n
w
h
en
th
e
d
r
iv
in
g
g
ea
r
r
o
tates
i
n
t
h
e
o
p
p
o
s
ite
d
ir
ec
tio
n
t
h
e
f
o
r
m
er
d
r
iv
en
g
ea
r
w
o
u
ld
b
e
s
tatio
n
ar
y
w
h
ile
th
e
o
th
e
r
d
r
iv
en
g
ea
r
r
o
tates.
Fig
u
r
e
2
.
D
r
iv
in
g
g
ea
r
Fig
u
r
e
3
. R
ad
ial
p
lan
e
Fig
u
r
e
4
.
H
er
r
in
g
b
o
n
e
g
ea
r
m
esh
T
h
e
en
tire
m
ec
h
a
n
i
s
m
o
f
th
e
d
r
iv
in
g
g
ea
r
an
d
th
e
t
w
o
d
r
iv
e
n
g
ea
r
s
is
g
iv
e
n
i
n
Fi
g
u
r
e
5
.
Fig
u
r
e
5
.
T
h
e
en
tire
m
ec
h
a
n
is
m
o
f
t
h
e
d
r
iv
i
n
g
g
ea
r
an
d
th
e
t
w
o
d
r
iv
e
n
g
ea
r
s
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
T
h
e
co
n
tr
o
l
s
y
s
te
m
h
as
b
ee
n
v
er
i
f
ied
b
y
i
m
p
le
m
en
tin
g
th
e
p
r
o
g
r
a
m
m
ed
o
p
er
atio
n
al
co
d
es
in
th
e
m
icr
o
co
n
tr
o
ller
.
I
t
h
as
b
ee
n
o
b
s
er
v
ed
th
at
t
h
e
D
C
s
tep
p
er
m
o
to
r
w
a
s
g
iv
i
n
g
t
h
e
s
p
ec
i
f
ic
r
o
tatio
n
in
b
o
th
th
e
d
ir
ec
tio
n
s
(
clo
ck
w
is
e
a
n
d
an
ti
-
clo
ck
w
i
s
e)
as
p
r
o
g
r
a
m
m
ed
.
T
h
e
n
u
m
b
er
o
f
s
tep
s
was
ch
a
n
g
ed
i
n
th
e
o
p
er
atio
n
al
co
d
es
an
d
t
h
e
ea
c
h
e
x
p
er
i
m
e
n
t
w
as
r
ep
ea
ted
.
T
h
e
g
ea
r
ar
r
an
g
e
m
e
n
t
w
as
d
esi
g
n
ed
s
u
cc
ess
f
u
ll
y
i
n
C
atia
-
v
5
an
d
t
h
e
v
ir
t
u
al
s
i
m
u
l
atio
n
w
as
also
co
n
d
u
cted
.
T
h
is
w
a
s
in
ac
co
r
d
an
ce
to
th
e
r
o
tatio
n
b
y
th
e
s
tep
p
er
m
o
to
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
M
o
d
ifica
tio
n
a
n
d
A
ctu
a
t
o
r
M
in
imiz
a
tio
n
o
f th
e
H
ip
Leg
Jo
i
n
t in
a
B
ip
e
d
a
l R
o
b
o
t,
a
…
(
N
i
r
ma
lya
Tr
ip
a
th
i
)
97
4.
CO
NCLU
SI
O
N
I
n
th
is
p
ap
er
,
a
n
e
w
n
o
v
el
m
e
th
o
d
h
as
b
ee
n
p
r
o
p
o
s
ed
th
at
m
i
g
h
t
d
ec
r
ea
s
e
th
e
o
v
er
all
w
e
ig
h
t
o
f
t
h
e
b
ip
ed
.
T
h
e
n
u
m
b
er
o
f
D
C
s
tep
p
er
m
o
to
r
s
ca
n
b
e
m
in
i
m
ized
i
n
v
ar
io
u
s
p
ar
ts
o
f
t
h
e
r
o
b
o
t su
ch
as a
r
m
j
o
in
t,
le
g
j
o
in
t,
th
is
w
o
u
ld
r
ed
u
ce
t
h
e
o
v
er
all
co
s
t
a
n
d
t
h
e
e
n
er
g
y
c
o
n
s
u
m
p
tio
n
o
f
a
b
ip
ed
.
T
h
e
n
e
w
ad
ap
ti
v
e
g
ea
r
d
esig
n
ca
n
b
e
i
n
co
r
p
o
r
ated
in
o
th
er
p
ar
ts
to
g
i
v
e
p
r
ec
is
e
m
o
v
e
m
e
n
t.
T
h
is
p
ap
er
r
estrict
s
i
n
m
an
u
f
ac
t
u
r
in
g
o
f
th
is
n
e
w
g
ea
r
tr
ai
n
an
d
ca
n
b
e
f
u
r
t
h
er
s
t
u
d
ied
.
T
h
e
v
ar
io
u
s
m
ater
ial
p
r
o
p
er
ties
o
f
t
h
e
g
ea
r
th
at
ca
n
af
f
ec
t
th
e
p
er
f
o
r
m
a
n
ce
ca
n
al
s
o
b
e
co
n
s
id
er
ed
.
T
h
e
n
e
w
g
ea
r
d
esi
g
n
w
o
u
ld
lead
to
ch
an
g
es
i
n
t
h
e
d
y
n
a
m
ic
an
d
s
tat
ic
s
tab
ilit
y
o
f
th
e
m
ec
h
an
ical
s
tr
u
ctu
r
e
o
f
t
h
e
b
ip
ed
w
h
ic
h
ca
n
b
e
f
u
r
th
er
e
x
p
lo
r
ed
.
RE
F
E
R
E
NC
E
S
[1
]
V
ict
o
r
Ra
g
u
sila,
M
.
Re
z
a
Em
a
m
i
,
“
M
o
d
e
ll
in
g
o
f
a
ro
b
o
ti
c
leg
u
sin
g
b
o
n
d
g
ra
p
h
s,”
S
imu
l
a
ti
o
n
M
o
d
e
ll
in
g
Pra
c
ti
c
e
a
n
d
T
h
e
o
ry
,
v
o
l.
4
0
,
p
p
.
1
3
2
-
1
4
3
,
2
0
1
4
.
[2
]
Hu
d
y
ja
y
a
S
isw
o
y
o
Jo
a
,
Na
z
im
M
ir
-
Na
siria,
“
S
t
a
b
il
it
y
Co
n
tro
l
o
f
M
in
im
a
li
st
Bi
p
e
d
a
l
R
o
b
o
t
i
n
S
i
n
g
le
S
u
p
p
o
rt
Ph
a
se
,
”
In
tern
a
ti
o
n
a
l
S
y
m
p
o
siu
m
o
n
R
o
b
o
ti
c
s an
d
I
n
telli
g
e
n
t
S
e
n
s
o
rs,
v
o
l.
4
1
,
p
p
.
1
1
3
-
1
1
9
,
2
0
1
2
.
[3
]
Eri
k
a
Ottav
i
a
n
o
,
S
e
rg
e
y
V
o
ro
t
n
ik
o
v
,
M
a
rc
o
Ce
c
c
a
re
ll
i,
P
a
v
e
l
K
u
re
n
e
v
b
,
“
De
sig
n
i
m
p
ro
v
e
m
e
n
ts
a
n
d
c
o
n
tr
o
l
o
f
a
h
y
b
rid
w
a
lk
in
g
ro
b
o
t,
”
R
o
b
o
ti
c
s a
n
d
A
u
t
o
n
o
mo
u
s
S
y
ste
ms
,
v
o
l.
5
9
,
p
p
.
1
2
8
-
1
4
1
,
2
0
1
1
.
[4
]
Ko
h
Ho
s
o
d
,
T
a
k
a
sh
i
Tak
u
m
a
,
Atsu
sh
i
Na
k
a
m
o
to
,
S
h
i
n
ji
Ha
y
a
sh
i,
“
Bip
e
d
r
o
b
o
t
d
e
sig
n
p
o
w
e
re
d
b
y
a
n
tag
o
n
isti
c
p
n
e
u
m
a
ti
c
a
c
tu
a
to
rs f
o
r
m
u
lt
i
-
m
o
d
a
l
lo
c
o
m
o
ti
o
n
,
”
R
o
b
o
ti
c
s a
n
d
Au
to
n
o
mo
u
s
S
y
ste
ms
,
v
o
l.
5
6
,
p
p
.
4
6
-
5
3
,
2
0
0
8
.
[5
]
S
e
u
n
g
su
k
Ha
,
Yo
u
n
g
j
o
o
n
Ha
n
,
a
n
d
He
rn
so
o
Ha
h
n
,
“
A
d
a
p
ti
v
e
Ga
it
P
a
tt
e
r
n
G
e
n
e
ra
ti
o
n
o
f
Bip
e
d
Ro
b
o
t
b
a
se
d
o
n
Hu
m
a
n
’s
G
a
it
P
a
tt
e
rn
A
n
a
ly
sis,”
W
o
rld
Aca
d
e
my
o
f
S
c
ien
c
e
,
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l.
1
0
,
p
p
.
1
0
-
2
7
,
2
0
0
7
.
[6
]
Ro
n
a
ld
V
a
n
Ha
m
,
Bra
m
V
a
n
d
e
rb
o
rg
h
t,
M
ich
a
e
l
V
a
n
Da
m
m
e
,
Bjo
rn
V
e
rre
lst,
Dirk
L
e
f
e
b
e
r,
“
M
A
CCEP
A
,
th
e
m
e
c
h
a
n
ica
ll
y
a
d
ju
sta
b
le
c
o
m
p
li
a
n
c
e
a
n
d
c
o
n
tr
o
ll
a
b
le
e
q
u
il
ib
r
iu
m
p
o
siti
o
n
a
c
tu
a
to
r:
De
sig
n
a
n
d
im
p
lem
e
n
tatio
n
i
n
a
b
ip
e
d
ro
b
o
t
,
”
Ro
b
o
ti
c
s
a
n
d
A
u
to
n
o
mo
u
s
S
y
ste
ms
,
v
o
l.
5
5
,
p
p
.
7
6
1
-
7
6
8
,
2
0
0
7
.
[7
]
S
u
n
g
-
n
a
m
Oh
,
S
u
n
g
-
Ui
L
e
e
,
a
n
d
Ka
b
-
ll
Kim
,
“
De
si
g
n
o
f
a
Bip
e
d
Ro
b
o
t
Us
in
g
DS
P
a
n
d
F
P
G
A,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
n
tro
l
,
A
u
to
m
a
ti
o
n
,
a
n
d
S
y
ste
ms
,
v
o
l.
1
,
p
p
.
2
5
2
-
2
5
6
,
2
0
0
3
.
[8
]
M
.
G
u
ih
a
rd
a
,
P
.
G
o
rc
e
a
,
“
A
n
e
w
c
o
n
tro
ll
e
r
a
d
a
p
ted
t
o
c
o
n
stra
in
e
d
p
n
e
u
m
a
ti
c
m
u
lt
ich
a
in
stru
c
tu
r
e
s,”
Au
to
ma
t
ica
,
v
o
l.
3
6
,
p
p
.
1
3
2
1
-
1
3
2
7
,
2
0
0
0
.
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