Comparison of crank based leg mechanism/locus/Jansen

Jansen Linkage Nr. X Y Description 1 0.5000 0.0488 turning point 2 0.4960 0.0390 support phase 3 0.4750 0.0298 support phase 4 0.4407 0.0213 support phase 5 0.3961 0.0139 support phase 6 0.3439 0.0081 support phase 7 0.2864 0.0039 support phase 8 0.2255 0.0013 support phase 9 0.1628 0.0002 support phase 10 0.0998 0.0002 support phase 11 0.0374 0.0006 support phase 12 -0.0234 0.0010 support phase 13 -0.0825 0.0011 support phase 14 -0.1395 0.0008 support phase 15 -0.1947 0.0003 support phase 16 -0.2480 0.0000 support phase (y minima) 17 -0.2991 0.0004 support phase 18 -0.3474 0.0021 support phase 19 -0.3921 0.0057 support phase 20 -0.4317 0.0116 support phase 21 -0.4645 0.0203 support phase 22 -0.4882 0.0323 support phase 23 -0.5000 0.0481 turning point 24 -0.4966 0.0686 transfer phase 25 -0.4744 0.0953 transfer phase 26 -0.4298 0.1307 transfer phase 27 -0.3598 0.1777 transfer phase 28 -0.2631 0.2384 transfer phase 29 -0.1453 0.3046 transfer phase 30 -0.0351 0.3290 transfer phase (y maxima) 31 0.0566 0.2701 transfer phase 32 0.1633 0.1907 transfer phase 33 0.2752 0.1319 transfer phase 34 0.3713 0.0956 transfer phase 35 0.4410 0.0739 transfer phase 36 0.4830 0.0598 transfer phase Nr. X Y Description