4 Rotating gait 5 Locomotion capabilities 2 Turning gait

3 Rolling gait

The robot can roll around its body axis. The same sinusoidal signal is applied to all the vertical joints and a ninety degrees out of phase sinusoidal signal is applied to horizontal joints (Fig. ). The amplitudes should be bigger than 60 (Av>60, Ah>60 ). The results are the same obtained with the pitch-yaw-pitch minimal configuration studied in [16].

Figure: The rolling gait. The same sinusoidal signal is applied to all the vertical joints and a ninety degrees out of phase sinusoidal signal is applied to horizontal joints