Terrain adaptation gait algorithm in a hexapod walking robot

摘要

This paper proposed a simple but effective gait algorithm for hexapod robot to navigate in an uneven and rough terrain. The robot has six legs with three joints in each leg and actuated with 18 servo motors. The tactile sensor, which is simply a normally open push button, is placed in each end of leg to sense if the leg touch the ground. The main purpose of this research is to make the robot able to walk in an uneven terrain with the simple gait algorithm. The inverse kinematics method is used to calculate every angle of the joint from the given desired position of six legs. The implementation result in the end of this paper shows this algorithm succeed to make the robot navigate in rough an unstructured terrain.