Fig. 8: Abstraction and technical illustration of SQUAMATAR robot.
From: Coordinating limbs and spine: (Pareto-)optimal locomotion in theory, in vivo, and in robots
a Vital joints as identified for a lizard-like stride. b Top view of the lizard-inspired robot with the mimicked joints. Coloured arrows indicate rotational DOFs corresponding to lizard joints. Main image depicts robots with default leg-length configuration (ℓr = 105 mm). Short (ℓr = 47.2 mm) and long (ℓr = 170 mm) leg configurations are shown as inlays. Measurements as used for the conversion of the ROMs in robot and theoretical model are depicted (c) Angle comparison for robot and theoretical model in a bent position, see Supplementary S1 (Section C) for details. d Side view CAD-assembly of the robot with the centre of mass marked.
