A Free Gait Generation Algorithm for Hexapod Walking Machines

Abstract

The paper discusses the gait patterns for hexapod walking machines and the constraint conditions for leg motions. A new free gait generation method for a hexapod robot walking on uneven terrain has been presented. The machine walks in standard gait mostly and adaptation gait is adopted only when the standard gait is disabled. With the application of the method,the machine has possessed not only high speed and energy efficiency,but also good ability for walking on irregular terrain. Finally,the proposed method has been validated.