Modeling and Analysis of a Modular Multilegged Robot with Improved Fault Tolerance and Environmental Adaptability

Table 1

Description of gait of modular multilegged robot with different legs.

	1	2	3	4	5	6	7
One leg	Get ready	Leg swings to the right; (small angle).	Trunk is lifted.	Trunk moves forward.	Leg swings to the left; (small angle).	Trunk is lifted.	Leg swings to the left (large angle); trunk moves forward.
Two legs	Get ready	Legs 1 and 2 swing outwards (small angle).	Trunk is lifted.	Legs 1 and 2 swing outwards; (large angle).	Trunk moves forward.	Legs 1 and 2 are lifted.	Legs 1 and 2 reset.
Six legs	Get ready	Legs 1, 3, and 5 are lifted.	Legs 1, 3, and 5 swing forward.	Trunk moves forward.	Legs 2, 4, and 6 are lifted.	Legs 2, 4, and 6 swing forward.	Trunk moves forward.