The locomotive mode study on five-limbed robots

In this paper, a new locomotive mode, pentapodal gait, is investigated and the experimental study is conducted on the five-limbed robot prototype developed by the authors. The study has demonstrated that the pentapodal gaits are advantageous in stability gait variety, stability margin, duty factor range, and locomotive speed over many traditional walking machines. The new typed robot with five limbs is expected to be applied in unstructured environments and comprehensive tasks.