Jahanzeb Rajput and Khalid M. Hasan
Hexapod robot, gait generation, tripod gait, straight-line gait, turning gait
In this paper we present a new method of generating a periodic tripod gait, which requires only two degrees-of-freedom per leg of a hexapod. Based on differential leg function of insect locomotion, we present simple geometrical formulae, implementable with the help of a parameterized state-diagram. The proposed state-diagram can produce all modes of hexapod motion and makes seamless transitions between straight-line and turning gaits. This makes hexapod capable to walk through any arbitrary path. The resulting gait exhibits no considerable vertical body movement, making negative work done by the hexapod nearly zero. The proposed method results in quick and efficient motion over plain terrain by using minimum number of actuators.
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