Research Article
Rolling Locomotion Control of a Biologically Inspired Quadruped Robot Based on Energy Compensation
Table 1
Physical parameters of the rolling huntsman-spider-inspired quadruped robot.
| | Parameter | Character | Value |
| | Mass of body (kg) | | | | Mass of leg (kg) | | | | Inertia moment of body (kgm2) | | | | Inertia moment of leg (kgm2) | | | | Viscosity of body (Nms/rad) | | | | Viscosity of leg (Nms/rad) | | | | Length from COG of body to joint (m) | | | | Length from joints to COG of leg (m) | | | | Angle from leg to COG of leg (rad) | | | | Radius of ground contact area (m) | | | | Gravity acceleration (m/s2) | | |
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