From: Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units
i
Pi
θcri (rad)
xi (mm)
yi (mm)
1
310
− 470
1.78Ï€
2
220
1.56Ï€
3
130
1.34Ï€
4
40
1.12Ï€
5
− 350
0.22Ï€