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

<table>Behavior of <svg height="15.6875" id="M192" 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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<g transform="matrix(.012,-0,0,-.012,8.225,15.475)"><path d="M475 507q0 -83 -20 -172t-56 -167.5t-93.5 -129t-125.5 -50.5q-157 0 -157 227q0 78 21.5 164t59 161t96.5 123.5t126 48.5q79 0 114 -58t35 -147zM391 522q0 155 -81 155q-62 0 -111 -82.5t-73 -200.5h253q12 81 12 128zM373 346h-255q-12 -91 -12 -150q0 -72 20 -123
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</svg> throughout the step of TITAN-XIII walking robot.</table>

International Scholarly Research Notices

fig11

Figure 11

Figure 11: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 