Leg Locomotion Adaption for Quadruped Robots with Ground Compliance Estimation

Figure 17

The recursive change process of stiffness and the fitting straight line. (a) Medium hard rubber. (b) High durometer rubber. (c) Low hardness sponge. (d) Medium hardness sponge. (e) High hardness sponge.

(a)

(b)

(c)

(d)

(e)