N=3 2R-Virtual Wheel (Reuleaux triangle-Frame2)
If necessary, Please add the additional bars. ■ Learning (dynamic brachiation) In interval Z0H: Node y(B) is constant (= 5). In interval HI : Node y(D) is constant (= 1). Catch one node, exclusively. When two node become vertical (or Navel crosses the edge), exchange the catch node. | y(MM) - y(Navel) | ≦ constant1. | x(MM) - x(Navel) | ≦ constant2.