The reachable area for each leg is shown by the dotted square.
Desired goals are taken to be reachable to the extent that they are feasible within the conceptual and technical means at hand.
The boundary of the reachable workspace is a two-dimensional surface consisting of some outermost external patches.
The maximum reachable force that can be applied by the manipulator has an associated moment.
Figure 15 shows an example of the reachable trajectory space.
We shall say that a vertex x is -reachable if the path from r to x is -adapted.
Our analysis is currently handcrafted; an automated analysis would probably require us to work with a superset of reachable states.
Therefore, the reachable workspace can only be obtained numerically.
