MR-DF and MR-LF gait type. (A) Table showing the gait exhibited by robots in their first ten steps as a function of ya (rows) and robot type and mass (columns). Complete descriptions of each gait type are included in the main text. (B) Representative side-view image sequences of data underlined in A during the second step of the 2.55 g MR-DF (left columns) and the 2.55 g MR-LF (right columns) robots for the run, walk, and crawl gaits. The approximate θa and corresponding step percentage are included on the left. The length of the displayed step and the initial speed (average speed for the first ten steps) are labeled below the image sequences. Red vertical lines are aligned with the robot’s leading foot at θa = 0° to show the distance traveled during the step. Scale bars: 10 mm.