Figure 5. The bipod gait is faster than the tripod gait during ground locomotion in a hexapod robot.

(a) A frontal view of the hexapod robot used. Each leg is labelled in white. A white arrowhead indicates the direction of heading. (b) The instantaneous speed of the robot during one walking cycle using the classic tripod (red) or bipod-B (cyan) gait. Red and cyan arrowheads mark peak speeds for the tripod and bipod-B gaits, respectively. (c) The robot's position at four 4 s intervals during tripod (left) or bipod-B (right) locomotion. Black dashed lines connect the robot's locations at corresponding time points. Black arrows indicate the direction of heading. Scale bar, 16 cm. (d) Average speed over 10 s for each gait (N=10 each). A double asterisk (**) indicates that P<0.001 for a two-sample t-test.