Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

Figure 20

Experiment results for robot with different modular legs. (a) Motion sequence diagram of robot with one modular leg. (b) Motion sequence diagram of robot with two modular legs. (c) Motion sequence diagram of robot with six modular legs. (d) Angle change of active joint of robot with one modular leg. (e) Angle change of active joint of robot with two modular legs. (f) Angle change of active joints of robot with six modular legs.

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