Video explanation
A shell-off hexapod alternates two groups of three legs. Changing the rhythm changes the speed readout, and stopping restores a supported stance.
Alternating tripods
One set of three legs supports the body while the other swings forward, then roles swap. Labels identify front, middle and rear legs.
Center of mass and support
Slow static stability depends on the center-of-mass projection and support polygon. Faster motion also involves dynamic effects.
Rhythm versus real speed
Step frequency and stride length together affect speed. Slow motion and readouts explain coordination rather than measuring hardware performance.