Fig. 1 CAD model of the proposed HDPCM More about this image found in CAD model of the proposed HDPCM

Fig. 2 The kinematic scheme and redundancy in actuation of the proposed HDPCM: ( a ) the kinematic scheme of the flexible limb/cable hybrid-driven PCM and ( b ) cables adjust shapes of flexible limbs More about this image found in The kinematic scheme and redundancy in actuation of the proposed HDPCM: ( a...

Fig. 3 Mechanism approximation of the flexible limb More about this image found in Mechanism approximation of the flexible limb

Fig. 4 Snapping through buckling behavior of flexible limbs More about this image found in Snapping through buckling behavior of flexible limbs

Fig. 5 Prototype of the HDPCM and experimental setup More about this image found in Prototype of the HDPCM and experimental setup

Fig. 6 Repeatability of the HDPCM More about this image found in Repeatability of the HDPCM

Fig. 7 The absolute position and orientation errors More about this image found in The absolute position and orientation errors

Fig. 8 Measured trajectories of the end-effector More about this image found in Measured trajectories of the end-effector

Fig. 9 Passive compliance of the HDPCM More about this image found in Passive compliance of the HDPCM

Fig. 10 Workspace comparison of the HDPCM and PCM More about this image found in Workspace comparison of the HDPCM and PCM

Fig. 11 Translation with load for the HDPCM and PCM More about this image found in Translation with load for the HDPCM and PCM

Fig. 1 Design process of the modular clustered tensegrity mobile robot: ( a ) deformation sequence of the earthworm [ 32 ], ( b ) deformation sequence of the inchworm [ 33 ], ( c ) deformation law of the earthworm and inchworm, ( d ) modular clustered tensegrity structure and its deformation forms... More about this image found in Design process of the modular clustered tensegrity mobile robot: ( a ) defo...

Fig. 2 Kinematic modeling process of the clustered tensegrity robot: ( a ) diagram of the robot and ( b ) kinematic process More about this image found in Kinematic modeling process of the clustered tensegrity robot: ( a ) diagram...

Fig. 3 Solving process of the actual length of each cable segment of the robot: ( a ) illustration of the solving process and ( b ) flowchat of the solving process More about this image found in Solving process of the actual length of each cable segment of the robot: ( ...

Fig. 4 Kinematic modeling process of the two locomotion modes: ( a ) the detailed kinematic modeling process, ( b ) “standard locomotion process” of the earthworm-like locomotion, and ( c ) “standard locomotion process” of the inchworm-like locomotion More about this image found in Kinematic modeling process of the two locomotion modes: ( a ) the detailed ...

Fig. 5 Effect of cable-hole gap on the kinematic performance of the earthworm-like locomotion: ( a ) change of the actual length of each cable segment of the “real locomotion process” for the five groups, ( b ) locomotion sequence of the “standard locomotion process” and “real locomotion process” ... More about this image found in Effect of cable-hole gap on the kinematic performance of the earthworm-like...

Fig. 6 Effect of cable-hole friction on the kinematic performance of the earthworm-like locomotion: ( a ) change of total energy of the robot and ( b ) change of actual length of each cable segment of the “real locomotion process” of the seven groups More about this image found in Effect of cable-hole friction on the kinematic performance of the earthworm...