Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/9645730/figures/9645730.fig.007a.svgz" name="9645730.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Hip joint</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/jr/volume-2016/9645730/figures/9645730.fig.007b.svgz" name="9645730.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Knee joint</td></tr></table>

Journal of Robotics

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Figure 7

Figure 7: Galloping Trajectory Generation of a Legged Transport Robot Based on Energy Consumption Optimization 