Analysis of Spiders’ Joint Kinematics and Driving Modes under Different Ground Conditions

Table 3

Extreme values and ranges of rotation angles of the spiders’ leg joints (°).

Horizontal hard pavement

Horizontal soft pavement

Sloped soft pavement

1

2

3

4

1

2

3

4

1

2

3

4

ABC

Max

Min

Range

BCD

Max

Min

Range

CDE

Max

Min

Range

DEF

Max

Min

Range