Results showed that, unlike tripod gait which is the fastest, but also very unstable, wave gait is the most energetically efficient and the most stable choice.
Three main hexapod gaits are used: tripod, tetrapod and wave gait. Also, each gait cycle is separated by delay to mark starting points of each gait.
In this experiment we chose to use three main hexapod robot gaits: tripod, tetrapod and wave gait. For measuring energy consumption dependence on body elevation, five different heights were used (see Table I).
And among three gaits, wave gait is the most energetically inefficient, whereas tripod and tetrapod gaits use almost the same amount of energy.
4 that wave gait is the least energetically stable.
Insect gaits range from the wave gait at slow speeds of walking, in which only one leg swings at a time, to the tripod gait at high walking speeds, in which the front and back legs on each side of the body step in unison with the middle leg on the opposite side.
These gaits ranged from the wave gait at slow speeds of walking ([less than] 3cm/sec) to the tripod gait at high speeds of walking (14cm/sec).