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ISRN Robotics
Volume 2013 (2013), Article ID 317396, 10 pages
Research Article

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

Fukushima Laboratory Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Ishikawadai 1st Building, 2-12-1 I1-52 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

Received 11 June 2013; Accepted 1 July 2013

Academic Editors: L. Asplund, R. Bostelman, R. Safaric, and Y. Zhou

Copyright © 2013 Evgeny Lazarenko et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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