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 |