From: Development of quadruped walking robot with spherical shell: improvement of climbing over a step
TITAN XII [15]
Little Dog [16]
QRoSS II [11]
QRoSS V
Leg length [mm]
1130
167
290
220
Overtable step height [mm]
560
75
100
120
Step-leg length ratio [%]
49.6
44.9
34.4
54.5