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Table 3 Simulation parameters of wheel-spider-inspired hexapod robot with rolling locomotion

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

Mass of body (kg) 1.70×10−1
Mass of first parts of legs (kg) 1.20×10−2
Mass of second parts of legs (kg) 1.30×10−2
Mass of third parts of legs (kg) 3.00×10−2
Inertia moment of body (kgm 2) 7.65×10−5
Inertia moment of first parts of legs (kgm 2) 2.00×10−6
Inertia moment of second parts of legs (kgm 2) 2.00×10−6
Inertia moment of third parts of legs (kgm 2) 2.10×10−6
Viscosity of body (Nms/rad) 1.70×10−9
Viscosity of first parts of legs (Nms/rad) 5.50×10−10
Damping coefficient of second parts of legs (Ns/m) 5.50×10−12
Spring constant of second parts of legs (N/m) 1.10×10−9
Length from body to center of gravity of first parts of legs (m) 1.00×10−2
Length from center of gravity of second parts to third parts of legs (m) 1.00×10−2
Radius of body (m) 3.00×10−2
Radius of third parts of legs (m) 1.50×10−2
Gravity acceleration (m/s 2) 9.81