From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robot
Center of gravity coordinates of body (m) | (x b ,z b ) |
Center of gravity coordinates of first parts of legs (m) | (x α j ,z α j ) |
Center of gravity coordinates of third parts of legs (m) | (x γ j ,z γ j ) |
Translational distance of second parts of legs (m) | d β j |
Rotational angle of body (rad) | ψ b |
Rotational angle of first parts of legs (rad) | ψ α j |
Joint torque of first parts of legs (Nm) | τ α j |
Force of second parts of legs (N) | F β j |