Research Article
Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability
Table 1
Description of gait of modular multilegged robot with different legs.
| ā | 1 | 2 | 3 | 4 | 5 | 6 | 7 |
| One leg | Get ready | Leg swings to the right (small angle). | Trunk is lifted. | Trunk moves forward. | Leg swings to the left (small angle). | Trunk is lifted. | Leg swings to the left (large angle); trunk moves forward. |
| Two legs | Get ready | Legs 1 and 2 swing outwards (small angle). | Trunk is lifted. | Legs 1 and 2 swing outwards (large angle). | Trunk moves forward. | Legs 1 and 2 are lifted. | Legs 1 and 2 reset. |
| Six legs | Get ready | Legs 1, 3, and 5 are lifted. | Legs 1, 3, and 5 swing forward. | Trunk moves forward. | Legs 2, 4, and 6 are lifted. | Legs 2, 4, and 6 swing forward. | Trunk moves forward. |
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