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Thanks to their sprawled posture and multi-legged support, stability is not as hard to achieve for hexapedal robots as it is for bipeds and quadrupeds. A key engineering challenge with hexapods has been to produce insect-like agility and maneuverability, of which steering is an essential part. However, the mechanisms of multi-legged steering are not always clear, especially for robots with underactuated legs. Here we propose a formal definition of steering, and show why steering is difficult for robots with 6 or more underactuated legs. We
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