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.007a" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Impact table</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="317396.fig.007b" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Robot body model 4 (swing leg height is 5 mm), before first rotation</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="317396.fig.007c" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.007c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Robot body model after first rotation</td></tr></table></td></tr></table>

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Figure 7

Figure 7: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 