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

Table 1

Parameter of the barycenter balance mechanism.

Structure	Para	Unit
Total mass of BAM	MG	kg
Mass of 8 links	Ma	kg
Mass of connecting plate	Mb	kg
Mass of counterweight	Mc	kg
Rotate angle of motor 1		(°)
Angle between link and level		(°)
Mass of frame	M0	kg
Length of link	LG	mm
Height of counterweight	h	mm
Range of counterweight	R	mm
Distance between plate and frame	hG	mm
Height of frame		mm