Gait Analysis of Eight Legged Robot

摘要

For any legged mobile machine, gait is the methodical, logical and scientific lifting and placement of foot to follow desired path on the desired terrain. To run a walking machine on any terrain, selection and analysis of gait is must. To meet the locomotion characteristics of an eight-legged robot in this paper we describe gait analysis of eight legged spider like robot. The longitudinal gait stability margin of the robot changes with change in duty factor. We analyze the wave gait and equal phase gait for this legged robot and found that there is a jump in stability margin of full cycle equal phase gait to that of wave gait at duty factor 3/4, and stability margin of half cycle equal phase gait jumps to wave gait at duty factor 7/8. We try to verify our result through graphical and simulation analysis.