Since a pair of legs is simultaneously lifted off and placed, the quadruped gait resulting from the algorithm belongs to a singular gait.
Several different gaits were implemented16 (quadruped crawl forward, backward, side walk to the left, to the right, turning motion, motion over inclination, motion over stairs).
In quadruped gaits, two legs are always in the transfer phase.
Then he goes on with quadrupeds and amphibians.
We are also testing this method with a quadruped robot.
Figure 5 shows the algorithm of the fault-tolerant quadruped gait.
Then appear the birds, the quadrupeds, serpents, and insects.
The first version of elaborated system was tested on a rickshaw and quadruped using a different controller from that of hexapods.
