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On the stability properties of hexapod tripod gait

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3 Author(s)
Lee, T.-T. ; Nat. Chiao-Tung Univ., Hsinchu, Taiwan ; Liao, C.-M. ; Chen, T.K.

Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain

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Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 4 )