Rodrigues, Carlos M. B.Tenreiro Machado, J. A.2019-04-042001-05-21http://hdl.handle.net/10400.22/13393This paper analyses periodic gaits of multi-legged locomotion systems. The joint signals are studied in the Fourier domain, namely from the point of view of its reproducibility through low-pass actuators. The influence of several parametrs is also considered and their critical values are investigated.engLegged locomotionRobot kinematicsFourier analysisDigital simulationconference object10.1109/ROBOT.2001.933180