Type Design and Behavior Control for Six Legged Robots

Chinese Journal of Mechanical Engineering

Table 2 Single actions based on human command

Direction	Action
	Single action classification
	Body translation length	Body rotation angle	Turning angle
Front	√	√
Back	√	√
Left	√	√	√
Right	√	√	√
Left front	√	√
Right front	√	√
Left back	√	√
Right back	√	√
Up	√
Down	√