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Table 1 Simulation parameters of rolling wheel spider

From: Realization of rolling locomotion by a wheel-spider-inspired hexapod robot

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