Unverified50% confidenceFactExact time
三角步态（tripod gait）指左前、右中、左后三条腿同时支撑地面，另外三条腿同时摆动，两组交替进行，保证任何时刻都有三个支撑点形成稳定三角形
1
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50%
Confidence
Long-term
Relevance
8/28/2026
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Related Claims
UnverifiedThe stability advantage of the diagonal gait can be explained by the support polygon theory: the body's center of mass always lies within the triangle formed by at least three support points.69% similarUnverifiedEach leg of a quadruped robot typically consists of 3 degrees of freedom (hip roll, hip pitch, and knee pitch), requiring coordinated control of 12 joints across the entire machine.69% similar
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