From the Human Spine to Hyperredundant Robots: The ERMIS Mechanism

Table 2

Equivalent rigid body manipulator D-H parameters.

𝑆𝑖	𝜃𝑖	𝑟𝑖	𝑑𝑖	𝛼𝑖
0	𝜃	0	0	0
1	0	0	0	−𝜋/2
2	𝜙	0	𝑙	0
3	𝜙	0	𝑙	0
⋮	⋮	⋮	⋮	⋮
10	𝜙	0	𝑙	0