The optimally stable ranges of 2n-legged wave gaits

The study of the optimally stable range of the wave gait is extended to the 2n-legged case (n>or=2). To accomplish this, an analytical method is applied to compare the longitudinal stability margin of the wave gait with all periodic and regular gaits. It is shown that the wave gait is optimally stable in the range of 3/44, the wave gait is optimally stable in the range of 1/2or=4. If the wave gait is compared with periodic and regular gaits, which are either symmetric or constant-phase-incremented, the wave gait is optimally stable in the range of 3/4or=3.<>