Fig. 9From: Analysis of the non-reciprocating legged gait for a hexapod robot based on the ePaddle-EGMSimulated results for tracking a straight-line path with varied strides, while the cycle time T = 2 s. a Body size of robot. b Trajectory of the center of body. The dotted line, the solid line and the dashline signify the position on x, y and z axis, respectively. c y-axis velocity of the center of bodyBack to article page