Fig. 8: Comparison of x-y positions for different gaits and their corresponding cluster centers with positions and orientations.

The figure illustrates the global positions achieved by the robot under six different gaits: forward, backward, left front, right front, left back, and right back. The robot starts at an initial position and orientation of (0, 0, 0), with the initial orientation parallel to the x-axis. Cluster centers for each gait are marked with stars (*), indicating their corresponding positions (x, y) and orientations (θ). Dashed lines at each cluster center indicate the robot’s body orientation based on the average θ of the gait. The origin (0, 0) represents the robot’s starting position, and the dashed black line at the origin indicates its initial orientation. The robot achieved gait-specific speeds (in cm/s) and angular orientations (in degrees) as follows: forward (speed: 5.37, orientation: −2.19^∘), backward (5.26, −8.76^∘), left-front (5.03, 12.8^∘), right-front (4.95, −17.68^∘), left-back (4.64, −23.4^∘), and right-back (5.36, 9.93^∘).