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Table 4 Final states of target trajectories and activating times

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

State Target distance Target angle Activating
  (m) (deg) time (s)
Grounded forward leg 3.50×10−2 −25.0 5.00×10−1
Grounded backward leg 5.00×10−3 0.00 5.00×10−1
Ungrounded leg 1.50×10−2 0.00 1.00