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.0016a" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.0016a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Insect type posture (wide; CG height is low)</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="317396.fig.0016b" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.0016b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Mammal type posture (narrow/elongated; CG is elevated)</td></tr></table></td></tr></table>

<table>Insect and mammal postures.</table>

International Scholarly Research Notices

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Figure 16

Figure 16: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 