Workspaces of a walking machine and their graphical representation. Part II: static workspaces

@article{Zhang1996WorkspacesOA,
  title={Workspaces of a walking machine and their graphical representation. Part II: static workspaces},
  author={Shu-jun Zhang and David Howard and D. John Sanger},
  journal={Robotica},
  year={1996},
  volume={14},
  pages={219-226}
}
Part I of this paper' was concerned with kinematic workspaces of walking machines, while this paper addresses the static workspaces of a walking machine and their graphical representation. The results of static analysis are presented; the static workspace constraints are established; an algorithm for investigation of static workspaces is presented; and the position static workspaces are analysed and graphically represented for an example walking machine design. 

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