Fig. 13From: Analysis of the non-reciprocating legged gait for a hexapod robot based on the ePaddle-EGMAngular velocities of the actuators for one gait cycle with the turning radius of 2 m. a Actuators in set 1. b Actuators in RF and RH. c Actuators in LM. The solid line, the dashline and the dot-and-dash line signify the angular velocity of the wheel, the ring gear and the sun gear, respectivelyBack to article page