Stable Balance Adjustment Structure of the Quadruped Robot Based on the Bionic Lateral Swing Posture

Table 1

Main parameters of walk gait.

Leg posture	Gait cycle (T/s)	Step size (s/mm)	Distance of single leg step (mm)	Phase difference (φi)	Height of the body (H/mm)	Height of leg lift (mm)	Distance of feet on the same side (mm)
Upright posture	4	200	50	0.25	424	100	438
Lateral swing posture	4	200	50	0.25	424cos θ1	100cos θ1	438