Fig. 10

Few optimal configurations. Subplots a-1 to a-5 are different optimal configurations along the vertical solid black line of Fig. 9a when legs are inclined at −82°. Subplots b-1 to b-5 are different optimal configurations along the horizontal dashed line of Fig. 9a when the body inclination is −10.5°. Subplots c-1 to c-5 are different optimal configurations at middle leg’s position of 0.69 in Fig. 9a