Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/abb/volume-2019/4617212/figures/4617212.fig.002a.svgz" name="4617212.fig.002a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td>(a) Horizontal hard pavement</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/abb/volume-2019/4617212/figures/4617212.fig.002b.svgz" name="4617212.fig.002b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td>(b) Horizontal soft pavement</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/abb/volume-2019/4617212/figures/4617212.fig.002c.svgz" name="4617212.fig.002c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td>(c) Sloped soft pavement ①</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/abb/volume-2019/4617212/figures/4617212.fig.002d.svgz" name="4617212.fig.002d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td>(d) Sloped soft pavement ②</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/abb/volume-2019/4617212/figures/4617212.fig.002e.svgz" name="4617212.fig.002e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td>(e) Two horizontal pavement gait character diagram</td></tr></table>

Applied Bionics and Biomechanics

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Figure 2

Figure 2: Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions 