Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="317396.fig.001a" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.001a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Crawling gait</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="317396.fig.001b" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.001b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Crawling gait after the application of disturbing input energy <svg height="15.4" id="M3" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 14.7375 15.4" width="14.7375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,11.112)"><path d="M609 650l-19 -162l-30 -2q2 69 -14 94q-9 18 -28.5 26t-74.5 8h-88q-30 0 -37 -6.5t-12 -36.5l-41 -212h103q48 0 69 5.5t32 19t26 50.5h29l-40 -198h-30q2 58 -11.5 70.5t-85.5 12.5h-99l-30 -167q-17 -87 3 -101q18 -15 111 -15q59 0 89 7t54 27q8 7 15.5 16t16 21.5
l14 20.5t15 23.5t13.5 21.5l29 -10q-52 -129 -71 -163h-500l6 28q66 4 83 17.5t28 73.5l77 409q11 61 -0.5 75.5t-78.5 18.5l10 28h467z" id="x1D438"></path></g>
<g transform="matrix(.012,-0,0,-.012,10.8,15.187)"><path d="M244 607q0 -25 -15.5 -43t-37.5 -18q-19 0 -32 13t-13 35q0 21 15 41t39 20q20 0 32 -14t12 -34zM222 91q-29 -33 -79 -68t-75 -35q-13 0 -19 7.5t-6 31t10 65.5l62 253q5 26 -1 26q-21 0 -72 -43l-13 24q43 40 91 68t71 28q30 0 10 -78l-71 -274q-8 -30 3 -30
q16 0 76 48z" id="x1D456"></path></g>
</svg></td></tr></table></td></tr></table>

<table>Crawling gait and subsequent rotation after the application of external disturbing energy.</table>

International Scholarly Research Notices

fig1

Figure 1

Figure 1: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 