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

<table>Linear decline of <svg height="15.6875" id="M214" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 14.8375 15.6875" width="14.8375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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</svg> caused by the increase of robot’s body velocity.</table>

International Scholarly Research Notices

fig15

Figure 15

Figure 15: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 