Fig. 1From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robotModel diagram of wheel spider rolling on slope. X-axis describes the ground and is horizontal to the slope. The rotational angles of the abdomen ψ a and legs ψ il , ψ ir are relative angle for the cephalothorax ψ c . The variables surrounded by the double line will be definitely independentBack to article page