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Figure 1 illustrates a kinematic diagram of the desired leg movement. The goal is for there to be 6 total configurations of the illustration below that will be controlled at joint L1. The kinematic diagram illustrates the path to be followed by the ternary link L3. The path in red demonstrates points of contact between the ternary link and surface of the wall. This path idea is further supported in Figure 2.
Figure 1. : Kinematic Diagram of Proposed Leg Movement
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