The Analysis of Gaits in Six-Legged Vehicles According to Their Static Stability

  • A. P. Bessonov
  • N. V. Umnov
Part of the International Centre for Mechanical Sciences book series (CISM, volume 201)


For the sake of convenience the study of walking vehicles may be subdivided into three large groups according to the number of legs attached to each vehicle, namely, biped, quadruped and six-legged. Each of these means of transport has its merits and demerits. For example, biped vehicles will probably reveal utmost manoeuvrability and land mobility and least stability, and, as a result of the latter, require a most complex control system for balance maintenance.


Stability Range Stable Gait Supporting Polygon Legged Locomotion Minimal Reserve 
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Copyright information

© Springer-Verlag Wien 1974

Authors and Affiliations

  • A. P. Bessonov
    • 1
  • N. V. Umnov
    • 1
  1. 1.Institute for the Study of MachinesMoscowUSSR

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