In this paper, we propose a new gait planning method for a multi-legged robot which has
only 1 degree-of-freedom in each leg and has a passive body joint between two body
segments. We firstly introduce the Finite State Machine (FSM) to the undulatory gait planning
method of the 2 n-legged robot. Then, the undulatory gait sequence for straight line motion is
achieved by undulations motion. The idea that legged locomotion is achievable by less
actuation of 2 n-legged robot as well as the gait planning methods are verified finally by …