$L_9$ orthogonal array. The contact method of the feet was selected as a single contact through empirical analysis. Toe in and toe out angles of

$ 15^{\circ }$

were applied to the front and rear ASWs. The front and rear ASWs had a

$30^{\circ }$

phase difference to minimize the reciprocation of the center of mass along the z-axis. A static analysis of DODO, as well as experimental dynamic analyses were performed. The driving speed of DODO on transitions were verified with the result of staticanalysis.">

A Compact and Agile Angled-Spoke Wheel-Based Mobile Robot for Uneven and Granular Terrains (original) (raw)

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