6 Locomotion areas 5 Locomotion capabilities 4 Rotating gait

5 Lateral shift

Using this gait, the robot move parallel to its body axis. A phase difference of 100 degrees is applied both for the horizontal and vertical joints (Fig. ). The orientation of the body axis does not change while the robot is moving.

Figure: Lateral shift gait. Eight different sinusoidal CPGs are used. A phase difference of 100 is used both for the horizontal and vertical joints