id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-264	Raheem, Firas A.; Khaleel, Hind Z.	تحسين الاستقرارية الثابتة للهكسابود روبوت باستخدام الخوارزمية الجينية	2015	16	.pdf	application/pdf	7653	342	67	Radially Symmetric Six-Legged Robot,” Life Science Journal, 2013. )2015( 44- 59، 456' 4، ا2*د11*%$' ا0/ارز#- ا,+*()' ا&%$# ا!زاق �راس ��د 59 �ار�� ا������ ��������د رو��ت ������ام ا���ارز��� ا���������� ! The leg tip coordinates were transformed to coxa frame using the transformation matrix below: T��������� = 0R��������� $ −R��������� $4 ∗ d���������0 1 1 …5$ The angle θ) of the femur servo position can be derived directly from the triangle Figure 3 B. θ) = φ − φ� … 6$ The angle φ� is the angle between the x-axis and line a and can be calculated with the following function:	cache/alkej-264.pdf	txt/alkej-264.txt