Fig. 12From: “Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distributionTime response of the resultant force of the experiment on the irregular slope. Each leg applies normal reaction over \(R_\mathrm{{ref}}\) in the leg-grope movement as marked with the black circles. Aside from that, each normal reaction is less than \(R_\mathrm{{ref}}\). The method of representation is the same as in Fig. 11 Back to article page