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A stability criterion has been developed that ensures stability of the vehicle in the event of failure of any one of the supporting legs. Periodic gaits developed for the Ambler utilize the Ambler's unique abilities and continuously satisfy the stability criterion.<\/jats:p>","DOI":"10.1002\/rob.4620090102","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:52:18Z","timestamp":1183726338000},"page":"1-15","source":"Crossref","is-referenced-by-count":1,"title":["Periodic gaits for the CMU Ambler"],"prefix":"10.1002","volume":"9","author":[{"given":"Suren N.","family":"Dwivedi","sequence":"first","affiliation":[]},{"given":"Swaminathan","family":"Mahalingam","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J. E.Shrigley \u201cThe mechanics of walking vehicles \u201d Proc. 1st Int. 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