Fig. 10

Process of the leg-grope walk for the leg 1 on \(O_\mathrm{G}-x_\mathrm{G}y_\mathrm{G}\) for experiments. The black circles are the contact points of the leg toe. The green triangle and blue triangle represent the admissible region of the COG and the groping leg, respectively. Step A’: the robot moves the COG inside of the admissible region of the COG while standing on four legs. Step B’,C: the robot moves the groping leg up and swings it to the point of the leg-grope, and the leg touches down. Step D’-1: the robot moves the COG to the position for the leg-grope. Step D’-2: the robot pushes the groping leg down gradually until the normal reaction is over \(R_\mathrm{ref}\)