Three feet on the ground.
How can a four-legged robot stay supported while a foot lifts?
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How can a four-legged robot stay supported while a foot lifts?
Fit the components before testing.
A slow crawl leaves three feet on the ground. Shifting the body’s projected center of mass inside their support triangle gives a static stability margin. This model compares crawl support with a two-foot gait, without claiming a particular robot.
Observed three-joint leg robot used as a reference, identity inferred. Quasistatic crawl only; two-foot gaits need dynamic balance outside this model. Foot rectangle 0.8×0.5 m; active support triangle excludes the forward-left foot.
Walk at 0.2 m/s with three-foot support and at least 20 mm margin.
Keep the walking robot inside its support triangle.