Abstract
In this paper, two new concepts are suggested: Non-Tumbling (NT) Gait, and the extension of the concept of Directional Normalized Energy Stability Margin, an approach to estimation of the relationship between direction of the destabilizing force (e.g. strong sidewind, or any other kind of impact) influencing the robot, and stability margin. The proposition of NT Gait is, in turn, based upon the notion of DNESM.
