Fig. 16

Model diagram of rolling wheel-spider-inspired hexapod robot. X-axis describes the flat ground. The translational distances of the second parts of the legs d _β1, …, d _β6 are relative distance for the first parts (x _α1,z _α1), …, (x _α6,z _α6) and the rotational angles of the first parts ψ _α1, …, ψ _α6 are relative angle for the body ψ _b . The variables surrounded by a double line will be definitely independent