From: “Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution
Parameters (m)
Value
Parameters (kg)
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