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. Author manuscript; available in PMC: 2017 Feb 1.
Published in final edited form as: IEEE Trans Robot. 2015 Dec 17;32(1):20–35. doi: 10.1109/TRO.2015.2500422

Fig. 5.

Fig. 5

This plot shows the relative stability of the θe = π trivial branch. The red curve gives the bifurcation result from (9). A point above this curve guarantees stability for two tubes across all rotational actuation, while a point below indicates a bifurcation, and a snap will be seen for some rotational actuation. Relative stability values less than 0 have been truncated to 0.