3 Lateral Shift

Figure: a) Lateral shift gait in PYP configuration. b) Lateral rolling gait in PYP configuration

PYP configuration can move using a lateral shift gait. It moves parallel to itself, as shown in Figure. Three sinusoidal waves are applied to all the modules with the following restrictions: $A_{1}=A_{2}=A_{3}\in(0,50)$, $T_{1}=T_{2}=T_{3}$, $\phi_{1}=\phi_{3}=0$, $\phi_{2}=90$. The amplitude of the waves are the same, with a value greater than 0 and smaller than 50.