Simple Gaits Simple locomotion gaits are basic motions that achieve straight line locomotion. For the second step, static stability is maintained by ensuring the vertical projection of the center of gravity of the robot remains in the footprint of the foot in contact with the ground by the use of force sensors in that foot. A similar gait using the same principles is the cartwheeling gait. The main significance of this gait is that it uses the smallest number of segments that I could find for a simple gait. Its motion resembles that of an earthworm.
Segments expand and contract in sequence.
Sets of four segments have identical motions. This gait can have an arbitrary number of segments and nodes in a chain. This gait is the best for crossing obstacle, ditches, walls etc. At the time this video was taken, only 4 segments were built, so the rear end of the robot drags on the ground. However, this gait can be made arbitrarily long without running into actuator limits.