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Fig. 2 | ROBOMECH Journal

Fig. 2

From: “Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Fig. 2

Process of the leg-grope walk for a right front leg. a stick figures of the robot and b time response of normal reaction of the right front leg. Step A: the robot moves COG standing on four legs. Step B: the robot reduces the force of the groping leg without any movement. Step C: the robot swings the groping leg to the point of the leg-grope. Step D: the robot applies the force to the ground gradually up to \(R_\mathrm{{ref}}\)

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