Table 1.

The D-H parameter table of right front leg of the quadruped robot.

Joint i	Connecting Rod Length ${\mathit{l}}_{\mathit{i}}$ (mm)	Torsional Angle ${\mathit{\alpha }}_{\mathit{i}}$ (°)	Connecting Rod Distance ${\mathit{d}}_{\mathit{i}}$ (mm)	Connecting Rod Angle ${\mathit{\theta }}_{\mathit{i}}$ (°)
1	100	90	0	${\theta }_1$
2	315	0	0	${\theta }_2$
3	335	0	0	${\theta }_3$
4	340	0	0	${\theta }_4$