Single-Leg Structural Design and Foot Trajectory Planning for a Novel Bioinspired Quadruped Robot

Figure 17

The motion of a period of flight phase. (a) t = 0 s. (b) t = 0.25 s. (c) t = 0.5 s. (d) t = 0.75 s. (e) t = 1 s.

(a)

(b)

(c)

(d)

(e)