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

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

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