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Table 3 Whole ranges of rotational angles of β′ and β under chart field Bi-j of lower power consumption Psum

From: Power Consumption Characteristics Research on Mobile System of Electrically Driven Large-Load-Ratio Six-Legged Robot

Working conditions

Range of β′ (°)

Range of β (°)

Value of β′ under maximum Psum (°)

Value of β′ under minimum Psum (°)

i

i-1

–72 to 90

107.5–150

12

–72

i-2

–72 to 72

72.5–150

–12

72

i-3

–87 to 87

90–150

0

–87 and 87

ii

ii-1

–72 to 90

107.5–150

12

–72

ii-2

–72 to 72

72.5–150

–12

72

ii-3

–87 to 87

90–150

0

–87 and 87

iii

iii-1

–72 to 90

105–150

12

–72

iii-2

–72 to 72

75–150

–12

72

iii-3

–87 to 87

90–150

0

–87 and 87