3 Rolling gait 5 Locomotion capabilities 1 1D sinusoidal gait

2 Turning gait

The robot can move along an arc, turning left or right. The values of the parameters are as same as that in the 1D sinusoidal gait (Fig. ), but now an offset in the horizontal joints is applied (Oh/=0). Therefore, the horizontal joints are at fixed position all the time. The robot has the shape of an arc. By changing Oh , the radix of curvature of the trajectory can be modified.

Figure: Turning gait. The same coordination is applied than in the 1D sinusoidal gait. The offset of the horizontal joints determines the arc.