Table 4 Vertical obstacle surmounting scenarios
From: Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units
Scenarios | Characteristics | Passing capacity |
|---|---|---|
S1 | \(H_{VO} < h_{\min } \left( {\varphi_{VO} } \right)\) | Passable |
S2 | \(H_{VO} > h_{\max } \left( {\varphi_{VO} } \right)\) | Impassable |
S3 | \(H_{VO} \in \left[ {h_{\min } \left( {\varphi_{VO} } \right),h_{\max } \left( {\varphi_{VO} } \right)} \right]\) | Passable with potential impact |