Table 3 Simulation parameters of wheel-spider-inspired hexapod robot with rolling locomotion

Mass of body (kg)

1.70×10⁻¹

Mass of first parts of legs (kg)

1.20×10⁻²

Mass of second parts of legs (kg)

1.30×10⁻²

Mass of third parts of legs (kg)

3.00×10⁻²

Inertia moment of body (kgm ²)

7.65×10⁻⁵

Inertia moment of first parts of legs (kgm ²)

2.00×10⁻⁶

Inertia moment of second parts of legs (kgm ²)

2.00×10⁻⁶

Inertia moment of third parts of legs (kgm ²)

2.10×10⁻⁶

Viscosity of body (Nms/rad)

1.70×10⁻⁹

Viscosity of first parts of legs (Nms/rad)

5.50×10⁻¹⁰

Damping coefficient of second parts of legs (Ns/m)

5.50×10⁻¹²

Spring constant of second parts of legs (N/m)

1.10×10⁻⁹

Length from body to center of gravity of first parts of legs (m)

1.00×10⁻²

Length from center of gravity of second parts to third parts of legs (m)

1.00×10⁻²

Radius of body (m)

3.00×10⁻²

Radius of third parts of legs (m)

1.50×10⁻²

Gravity acceleration (m/s ²)

9.81