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

Table 2

Gait parameters on three pavements.

Parameters	Leg	Horizontal hard pavement	Horizontal soft pavement	Sloped soft pavement
Average velocity (m/s)
Step distance (mm)	1
	2
	3
	4
Gait cycle (s)
Duty factor	1
	2
	3
	4

Note: the values in the table are .