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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 8.

Fig. 8

Front crawler body turning to the left, with kinematic axes and variables shown. The Cartesian location (x, y) of the front body with respect to the rear body is controlled by the wire lengths L1 and L2.