Analysis of Six-legged Walking Robots

Abstract

present paper, an attempt has been made to carry out kinematic and dynamic analysis of a six-legged ro- bot. A three-revolute (3R) kinematic chain has been chosen for each leg mechanism in order to mimic the leg structure of an insect. Denavit-Hartenberg (D-H) con- ventions are used to perform kinematic analysis of the six-legged robot. The direct and inverse kinematic analysis for each leg has been considered in order to develop an overall kinematic model of a six-legged ro- bot, when it follows a straight path. The problems re- lated to trajectory generation of legs have been solved for both the swing and support phases of the robot. It is important to mention that trajectory generation problem during the support phase has been formulated as an op- timization problem and solved using the least squared method. Lagrange-Euler formulation has been utilized to determine the joint torques. The developed kinematic and dynamic models have been examined for tripod gait generation of the six-legged robot.