Figure 5
The schematic of the novel caster design parameters. \(\alpha\), \(\beta\), \(\delta\) are the angles for each joint that occurs when overcoming a high step. \(\gamma\) needs to optimize a variable. \(l_{5}\) to \(l_{9}\) are part length when overcoming the high step, \(P_{z}\) represents the height of the passive joint from the flat surface, and L is the step height.
