The study of the optimally stable range of the wave gait is extended to the 2n-legged case (n>or=2). To accomplish this, an analytical method is applied to compare the longitudinal stability margin of the wave gait with all periodic and regular gaits. It is shown that the wave gait is optimally stable in the range of 3/44, the wave gait is optimally stable in the range of 1/2or=4. If the wave gait is compared with periodic and regular gaits, which are either symmetric or constant-phase-incremented, the wave gait is optimally stable in the range of 3/4or=3.>

The authors present a study on fully automated gaits which can be used to cross over four standard types of obstacles: grade, ditch, step, and isolated-wall. These gaits are simulated using computer graphics. The designer can arbitrarily select the dimensions of one obstacle, the computer program then generates a series of preprogrammed movements which enables a hexapod to cross over the obstacle in a fully automated mode. This study demonstrates the feasibility of fully automated obstacle-crossing gaits for the use of an all-terrain walking machine.>

Fully automated gaits are studied that can be used to cross four types of simplified obstacles: grade, ditch, step, and isolated-wall. These gaits are simulated using computer graphics. The designer can arbitrarily select the dimensions of one obstacle; the computer program then generates a series of preprogrammed movements that enables a hexapod to cross over the obstacle in a fully automated mode. The study demonstrates the feasibility of fully automated gaits for walking over these four major types of obstacles. With further research, fully automated gaits for crossing over obstacles of general geometry may be expected.>