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.002a" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Trotting gait before the application of disturbing energy</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="317396.fig.002b" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Trotting gait after the application of disturbing energy, case of forward tilting</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="317396.fig.002c" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.002c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Trotting gait after the application of disturbing energy, case of backward tilting</td></tr></table></td></tr></table>

<table>Trotting gait and possible subsequent rotations in case of application of external disturbing energy.</table>

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Figure 2

Figure 2: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 