Thus, it is suitable for online implementation to generate optimal 0 nearoptimal gaits.
Therefore, in lower-geared gaits stability is not the main control on locomotion as a large range of phase differences are feasible.
The use of statically stable gaits enables their control to be simplified.
Different gaits exhibit different kinematic and dynamic behaviors, which are crucial to the application environment.
The walking robot model includes the trajectory planning, for several different periodic walking gaits, the kinematics and the dynamics.
In quadruped gaits, two legs are always in the transfer phase.
First law helped in stabilizing (asymptotically) from the quasi-periodic gaits to periodic gaits of arbitrary period.
The body is supported by three legs during the key phases of these two gaits.
