6 Experiments 5 Locomotion capabilities 5 Lateral shift

6 Locomotion areas

The lateral shift and rotating gaits differ only in the value of the Fv and Fh parameters. Their values determine which gait is performed. A picture showing the relations between Fv and Fh is drawn in Fig.. There are three regions. In the middle there are an area in which the robot perform a lateral shift to the right. There are two parallel sub-regions in which the robot rotates anti-clockwise. In the transitional areas, the movement is not well defined. It is a mixture between both gaits. In the rest of points, no locomotion is performed.

The further analysis of these regions and the determination of the best points in them is left as a future work.

Figure: Areas of locomotion for the different parameter Fv, Fh when Fhv=0 is set .