Hybrid Gait Planning of A Hexapod Robot

Abstract

The adapotation of gaits pattern is a basic and important for the hexapod robot to move stably and efficiently, which depends on the servos of the robot’s legs, and also the body structure of the robot.This paper compares the tripod gait and the crab-inspired gait for a specific hexapod to move forward and move backward; turn left and turn right and integrates the two gaits to apply them under different conditions. The hexapod has three servos on each legs, thus the freedom level of each leg is three-degree. From the comparative experiment, this two gait patterns are suitable for different turning demands.