Table 1 Simulation parameters of rolling wheel spider

Mass of cephalothorax and abdomen (kg)

5.00×10⁻⁴

Mass of legs (kg)

1.00×10⁻⁴

Inertia moment of cephalothorax and abdomen (kgm ²)

6.25×10⁻⁹

Inertia moment of legs (kgm ²)

5.00×10⁻¹¹

Viscosity of cephalothorax and abdomen (Nms/rad)

5.00×10⁻¹²

Viscosity of legs (Nms/rad)

1.00×10⁻¹²

Length from cephalothorax to abdomen (m)

1.00×10⁻²

Length from cephalothorax to pair of first legs (m)

6.50×10⁻³

Length from cephalothorax to pair of second legs (m)

9.00×10⁻³

Length from cephalothorax to pair of third legs (m)

1.20×10⁻²

Length from cephalothorax to pair of last legs (m)

1.40×10⁻²

Radius of cephalothorax and abdomen (m)

5.00×10⁻³

Radius of legs (m)

1.00×10⁻³

Gravity acceleration (m/s ²)

9.81