FIGURE 11.
The robot’s dynamic gait pattern (A) on natural terrain (B) on flat terrain. (C) Dynamic gait pattern on flat terrain with injured forelimb. (D) On flat terrain with injured hindlimb. (E) On natural terrain with injured forelimb. (F) On natural terrain with injured hindlimb. The video of robot’s performance can be seen in the link of Video 2.