A Barycenter Control Method for the Bioinspired Forest Chassis Robot on Slope

Figure 11

Barycenter varies with parameters. (a)  = 0–120,  = 0°,  = 0–90°; (b)  = 0–120,  = 0–90°,  = 0°; (c)  = 0–120,  = 0–90°,  = 0–90°; and (d)  = 0, 60, 120,  = 0–90°,  = 0–90°.

(a)

(b)

(c)

(d)