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Each of these solutions has different curvature, torsion and climb angle functions.
Both, however, deal only with the two-dimensional case, without taking into account torsion and climb angle constraints.
In the next section, we detailed the necessary steps to realize the union in Eq. (2) in order to guarantee curvature and climb angle continuity for ({mathcal{R }}).
Firstly, we describe the experiments for a simulated airplane, modeled only by the three kinematic constraints, namely curvature, torsion and climb angle.
Therefore, since our kinematic approach guarantees continuity of the curvature, torsion, and climb angle functions, by respecting the maximum variable values, indirectly the vehicle dynamics are accounted for.
In [2], the authors present an improved cost function based on [10] that considers all three constraints: curvature, torsion and climb angle.
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The average speed of the robot is 11.7 cm/s, and the climbing angle is less than 20°.
Moreover, the maximum climbing angle of frogs can be used as useful information when designing an amphibian ladder.
Using this method, this paper shows that longitudinal and lateral stability will both decrease when a steady climbing angle increases.
In this case, a much lower landing horizontal speed can be ensured: -0.5cdot {C}_Dcdot {rho}_{air}cdot {u}_{down}^2cdot {A}_{y,z}-Tcdot cos t-w cos gamma (54 where γ is the climbing angle.
For small climb angles (<6°), the cos γ is nearly 1 and the sin is nearly zero.
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