Table 2 Variables of rolling wheel-spider-inspired hexapod robot (j=1,⋯,6)

Center of gravity coordinates of body (m)

(x _b ,z _b )

Center of gravity coordinates of first parts of legs (m)

(x _{α j} ,z _{α j} )

Center of gravity coordinates of third parts of legs (m)

(x _{γ j} ,z _{γ j} )

Translational distance of second parts of legs (m)

d _{β j}

Rotational angle of body (rad)

ψ _b

Rotational angle of first parts of legs (rad)

ψ _{α j}

Joint torque of first parts of legs (Nm)

τ _{α j}

Force of second parts of legs (N)

F _{β j}