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

<table class="fixed-width table-group" id="tab3"><tr><td><table class="table"><colgroup><col style="width:6.54em"/><col style="width:7.21em"/><col style="width:10.74em"/><col style="width:4.95em"/></colgroup><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left">Size/mm</td><td class="align_center">Torque/Kg•cm</td><td class="align_center">Power supply voltage/V</td><td class="align_center">Weight/g</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left">23.2×12×30.2</td><td class="align_center">2.5</td><td class="align_center">4.8</td><td class="align_center">12</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Parameters of the steering gear.</div>

Mathematical Problems in Engineering

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Table 3

Table 3: Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability 