Gait

Trot gait involves diagonal legs moving together, offering a mix of speed and stability and producing clear, high-quality RGB images and point cloud data.

Bounding gait propels forward with front and rear legs moving together, enabling rapid angular velocities.

Pronking gait has all four legs moving in unison, presenting high linear velocities.

Backflip motion demonstrates agility with rotations up to $750~\si{\degree/\second}$, requiring precise control and strong actuation, mainly for acrobatics and showcasing athletic ability.