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.004a" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>First rotation</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="317396.fig.004b" src="https://static.hindawi.com/articles/isrn/volume-2013/317396/figures/317396.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Second rotation, variant with tumbling around <svg height="15.25" id="M94" style="vertical-align:-3.27605pt" version="1.1" viewbox="0 0 34.412498 15.25" width="34.412498" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<table>Sequence of destabilized motion (partial tumbling) after the application of disturbing input energy <svg height="15.4" id="M93" style="vertical-align:-3.3907pt" version="1.1" viewbox="0 0 14.7375 15.4" width="14.7375" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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International Scholarly Research Notices

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Figure 4

Figure 4: Nontumbling Gait for Multilegged Robots and Its Directional Normalized Energy Stability Margin 