Research on Kinematics and Stability of a Bionic Wall-Climbing Hexapod Robot

Figure 12

(a) The position of foot in the direction. (b) The speed of foot in the direction. (c) The acceleration of foot in the direction. (d) The position of foot in the direction. (e) The speed of foot in the direction. (f) The acceleration of foot in the direction. (g) The position of foot in the direction. (h) The speed of foot in the direction. (i) The acceleration of foot in the direction. (j) Foot trajectory of the supporting leg.

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)