🦿 Six-Legged Walker: Tripod, Ripple and Wave Gaits, Support Polygon Margin and Joint Torque (2D top view)

Top view of a six-legged walker using the same gait engine as the 3D page. Pick the tripod, ripple or wave gait, set speed, cadence, stride, lift, body height and turn rate, and watch the planted feet, the support polygon and the stability margin, with the static foot loads and joint torques. Four in-page numerical checks.