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    Incline: ENSO

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    enso-robots

    by enso-robots

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    Gaits of controllers produced by ENSO on inclined ground. These controllers are less symmetric than those evolved on flat ground, and typically have two types of modules that produce different leg behaviors useful for walking effectively on inclined ground. In this video, two (or three) legs of the same module type remain nearly stationary to provide the support necessary for maintaining the robot's forward orientation, while the other legs make a full circle, propelling the robot forward without slipping.