Description
This video shows different possible solutions for a quadruped locomotion gait by using the generic framework of movement patterns.
Two bottom robots are using only oscillation in their degrees of freedom using (right) and not using (left) symmetry between the legs resulting in trot gait. Top-right robot is using only rotational movements in its DoFs resulting in a crawling gait and Top-left robot is one example of how combining oscillation and rotation in the robot DoFs can result in entirely different and emergent solutions.
(Work by S. Pouya and J.v.d. Kieboom.)
