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Fig. 3 | ROBOMECH Journal

Fig. 3

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

Fig. 3

Admissible region patterns. a The region for the COG when three legs (position \(\varvec{p}_{i,j,k}\)) are on the ground and b The region for the groping leg when the COG (position \(\varvec{p}_{g}\)) is fixed on \(O_\mathrm{G}-x_\mathrm{G}y_\mathrm{G}\) plane. Admissible regions are colored gray. These patterns are classified depending on the relation of variables \(h^i_\mathrm{ref}\), \(h^j_\mathrm{ref}\), \(h^k_\mathrm{ref}\) and \(h^\mathrm{grp}_\mathrm{ref}\) as shown in Table 2. On figure b, \(\triangle {\varvec{p}_g \varvec{p}_i \varvec{p}_j}\) and \(\triangle {\varvec{p}_g \varvec{b} \varvec{a}}\) are simillar and the relation is \((1 - h_\mathrm{{ref}}^\mathrm{{grp}}) \left| \varvec{p}_g - \varvec{p}_j \right| = h_\mathrm{{ref}}^\mathrm{{grp}} \left| \varvec{p}_g - \varvec{a} \right|\)

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