Fig. 15

The maximum normal force requirement for different body thicknesses at different middle leg’s position. The considered body thicknesses are 1, 2, 5, 10, 20 and 50 times the thickness of the legs, they are highlighted in gradient colors from blue to green. The body thicknesses of 5 and higher overlap. The solid red line is the middle leg’s tip position obtained experimentally and the dashed red lines are the standard deviation