Fig. 4.

(a) Three sets of variables (m, q_c): (−0.13, −55°), (−0.23, −109.7°), and (−0.18, −119.7°) generate three bending configurations with ascending curvature through the of odd joint axes in one direction. (b) Two bending configurations corresponding to the actuation of even joint angles in opposite directions, parameterized as +ve: (0.31°, 112.9°), −ve: (−0.11, −34.7°). (c) Motion planes spanned by even and odd joint angle actuation are perpendicular to each other. Their intersection is aligned with the robot axis in the straight configuration $\stackrel{⌢}{\mathbf{q}}=\overrightarrow{0}$. Four primitive bending directions are indicated. (d) Four primitive bending configurations with (m, q_c) = (0, ±5°) are represented in solid color. The other four configurations displayed in semitransparent color are generated between the four primitive configurations by assigning (α, β) = (0.25, 3.35).