Journal of Robotics

Research Article

Self-Reconfigurable Modular Robots Adaptively Transforming a Mechanical Structure: Algorithm for Adaptive Transformation to Load Condition

Figure 13

Transformation modes for adaptive cantilever construction.
794251.fig.0013a
(a) 𝑎 𝑣 4 1 > 0
794251.fig.0013b
(b) 𝑎 𝑣 1 1 > 0
794251.fig.0013c
(c) 𝑎 ℎ 4 4 < 0
794251.fig.0013d
(d) 𝑎 ℎ 3 4 < 0
794251.fig.0013e
(e) 𝑎 𝑣 3 1 < 0
794251.fig.0013f
(f) 𝑎 ℎ 3 3 > 0
794251.fig.0013g
(g) 𝑎 ℎ 3 2 > 0
794251.fig.0013h
(h) 𝑎 ℎ 2 3 > 0