Figure 10
From: Inverted Modelling: An Effective Way to Support Motion Planning of Legged Mobile Robots
Quadruped robot walking with free gait: a1 UP-2-RUS-4R quadruped robot leg mechanism model, a2 UP-2-RUS-4R leg mechanism workspace, a3 UP-2-RUS-4R leg mechanism workspace (top view), b1‒b4 screenshots of periodic gait simulation on even terrain, c1 comparison of motion continuity performance between Inverted Modelling and traditional gait, c2 stability margin of quadruped robot during static walking