Design and Control of a Novel Single Leg Structure of Electrically Driven Quadruped Robot

Table 2

D-H coordinate parameters of four-legged robot with single leg.

Serial number i	Connecting rod rotation angle αi−1	Connecting rod length ai−1	Joint angle θ	Connecting rod offset di
1	0	0	θ1	0
2	0	lAG	θ2	0
3	0	lGH	0	0