Typical gaits and motion analysis of a hexagonal symmetrical hexapod robot

In order to select optimal gait and realize high efficient intelligent walking under different terrain conditions, various possible gaits of a hexagonal symmetrical hexapod robot are investigated. The study mainly focuses on three aspects: walking ability, stability and energy consumption of three static stable and periodic walking gaits. On these aspects, three gaits of hexagonal symmetrical hexapod robot are compared with same duty factor. Moreover, the obstacle-overcoming ability and narrow way passing ability are analyzed briefly. Our study shows that these three gaits, i.e. insect-wave gait, mammal kick-off gait and mixed gait, have their corresponding advantages and disadvantages under different conditions. The insect-wave gait consumes less energy and is more stable than the other two while overcoming obstacles; the mixed gait is the best for keeping stable locomotion, but stays in the middle among three gaits when talking about other abilities; the mammal kick-off gait can pass through narrower way than others, and has longer possible stride than insect-wave gait. Our research provides a good reference for intelligent walking of hexagonal symmetrical hexapod robots in unknown and complex terrains.