Fig. 20From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robotZ direction positions of body and third parts of legs (zb: body, zlj: third parts). The z direction positions of the body and the third parts of the legs repeatedly increase and decrease. The third parts do not achieve the height of 15 mm or less except when the legs get off the ground since their radius are 15 mmBack to article page