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. Author manuscript; available in PMC: 2018 Dec 1.
Published in final edited form as: IEEE Trans Robot. 2017 Jul 27;33(6):1386–1397. doi: 10.1109/TRO.2017.2719035

Fig. 8.

Fig. 8

(a) Experimental setup schematic to determine independent segment motion by actuating only one segment; Results from the independent segment control experiments for (b) end segment, (c) middle segment and (d) base segment