Stability analysis for a hexapod robot walking on slopes

Abstract

This paper describes a hexapod robot which uses CPG method to generate different gaits. Simulation results demonstrate the stability of the CPG model. In order to inspect the gradeability of the robot when climbing in uneven slopes, a criterion called force-angle stability is used to measure the performance of the robot which runs in complex environment with different gaits. And experiment shows the difference of various gaits. Thus a proper gait can be summarized and applied to complex environment or uneven slopes.