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Table 3 Vertical obstacle surmounting parameters

From: Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units

Stages

Platform pitch \(\varphi \)p

Hind LUAP

trunk pitch \(\varphi \)H

Front LUAP

trunk pitch \(\varphi \)F

State 0

0

0

0

State 1

0

0

\(\varphi \)VO

State 2, 3

sin−1(HVO/LP)

0

0

State 4

sin−1(HVO/LP)

\(\varphi \)VO

0

State 5, 6

0

0

0