Fig. 10From: Analysis of the non-reciprocating legged gait for a hexapod robot based on the ePaddle-EGMAngular velocities of actuators in the ePaddle-EGM when λ is 300–260–220–180–120 mm. a actuators in LF, RH and LH. b actuators in RF, RH and LM. The dotted line, the dash line and the dot-and-dash line signify the angular velocity of the sun gear, the ring gear and the wheel, respectivelyBack to article page