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Table 1 The parameters of the robot

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

Parameters (m) Value Parameters (kg) Value
Body width 0.15 Body mass 4.54
Body length 0.29 Link1 mass 0.03
Link1 length 0.072 Link2 mass 0.35
Link2 length 0.109 Link3 mass 0.25
Link3 length 0.172 Whole mass 7.06