Research Article
Quadrupedal Robot Locomotion: A Biologically Inspired Approach and Its Hardware Implementation
Figure 13
Oscilloscope screenshots for the three locomotion gaits (real time monitoring). On the left side, we show the real time simulation for the quadruped robot, and on the right side the real time simulation for the amputated hexapod robot.
| (a) Walk (quadruped) |
| (b) Walk (hexapod) |
| (c) Jog (quadruped) |
| (d) Jog (hexapod) |
| (e) Run (quadruped) |
| (f) Run (hexapod) |