Abstract
An upper estimate of the maximum width of the forbidden zone for foot fulcrums, which a walking robot with many legs can overcome in static stability mode, is presented. Using the mathematical models of six-legged and four-legged robots, it is shown that the obtained estimate can't be improved. For this purpose, the sequences of the robot's foot placement have been formed, ensuring the achievement of the estimation meaning. The dependence of the maximum width of the zone on the length of the body was found for the six-legged robot model.
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