Tripod gaits planning and kinematics analysis of a hexapod robot

This paper proposes a scheme for the design, gaits planning and kinematics control of a hexapod robot. The robot is symmetrical structure with six identical legs. Each leg consists of three revolute joints which are actuated by position-controlled servos. The paper focuses on two crucial problems for multi-legged robot control, gaits planning and kinematics solving. Based on tripod gaits, a new turn gait which has static stability is proposed. Considering turn gait, there are two important parameters called the reachable area of each leg and maximum rotation angle of robot body. The two parameters are determined by the initial state and mechanical structure of hexapod robot. Then, an analytical inverse kinematics solution is discussed to realize kinematics control of the robot. The maximum rotation angles are solved and the obstacle avoidance experiment proves that the turn gait is feasible and the hexapod robot can walk rapidly and agilely on even terrain.