Fig. 3.

Hexapod: emerging gait patterns. The robot is inspired by a stick insect and has 18 actuated DoF. There are $18+12$ sensors (joint angle + delayed ones by 0.2 s). The robot performs different gaits when controlled with DEP: synchronous wave (A, row 1), synchronous trot (A, row 2), tripod (A, row 3), walk 1 (A, row 4), and walk 2 with their corresponding step patterns in D (black means foot is down). The fixed inverse models M in two configurations are displayed in B and C. Recorded foot patterns for model M 1 (E, Top) and model M 2 (E, Bottom) show the transitions between different gaits. Shown is the leg’s vertical position where black means leg is down and white means above center position. These transitions are either spontaneous or induced by interactions with the environment or by changes in the sensor delay. Markers (red dashed lines and points) indicate the gait patterns for synchronous wave, synchronous trot, and tripod (Top) and tripod, walk 1, and walk 2 (Bottom). See also Movie S3A.