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In fact, in Fig. 6, a small variation of the leg from its optimal position causes the maximum adhesion requirement to increase dramatically.
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The maximum adhesion required at the median height is marked in yellow color.
Fig. 6 a The maximum adhesion required by the robot at different legs' inclinations and different middle leg's positions.
Fig. 11 A range of values of legs' cross-sectional area and middle leg's positions, a maximum adhesion force requirement, and b the maximum adhesion force within −0.5 and −0.1 of the maximum normal force/body weight.
It, therefore, represents the maximum normal adhesion requirement for each position of the middle leg's tip.
The maximum adhesion force required by each leg for the different angles of the body is shown in Fig. 3.
Specifically, the optimal configuration is considered to be the one that minimizes the adhesion requirements for the robot, that is minimizes the minimum of the maximum adhesion force of any foot.
Maximum adhesion for intermediate sized disks reflects the balance between adhesive interfacial interactions and hydrodynamic dislodging forces.
The structural model used to investigate the effect of the different parameters on the adhesion requirements is used also to explain the positioning of the tip of the middle leg the ants use to stand on vertical surfaces; the stance that ants use minimizes the maximum adhesion force over the full range of the middle leg's tip position.
Lower height to length ratio results in lower adhesion requirement, while higher cross-sectional area also results in lower adhesion requirement.
The maximum adhesion torque of the clutch-type limited slip device depends on the wheel/rail adhesion conditions.
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