Table 1 Ranges of maximum normal forces of feet under four kinds of typical tripod gaits
From: Static Force Analysis of Foot of Electrically Driven Heavy-Duty Six-Legged Robot under Tripod Gait
Walking modes | Ranges of maximum normal forces of feet RF/N | |
|---|---|---|
Change in initial angle | Change in step pitch | |
Ant type | 370 | 432 |
Crab type | 614.5 | 638.4 |
Mixture type I | – | 141 |
Mixture type II | – | 157 |