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.