5 Lateral shift 5 Locomotion capabilities 3 Rolling gait

4 Rotating gait

The robot can also rotate parallel to the ground clockwise or anti-clockwise. This is a new gait not previously mentioned by other researchers. The robot can change its orientation in the plane. Eight different sinusoidal CPGs are used. A phase difference of 50 degrees is applied to the horizontal joints and 120 for the vertical (Fig. ).

Figure: Rotating gait. Eight different sinusoidal CPGs are used. A phase difference of 50 degrees is applied to the horizontal joints and 120 for the vertical