Motion Analysis of Two Typical Gaits and Other Functions in a Biomimetic Hexapod Robot

Zijie Zhou; Yiran Feng

doi:10.54097/fkxaf971

Authors

Zijie Zhou
Yiran Feng

DOI:

https://doi.org/10.54097/fkxaf971

Keywords:

Hexapod Robot, Gait Planning, Inverse Kinematics

Abstract

As hexapod robots are increasingly used in complex terrains where stability and energy efficiency are critical, understanding gait performance becomes essential. This paper discussed a close comparison of the similarities and differences between two gaits of a hexapod robot regarding their efficiency and stability as reflected in the acceleration data obtained from the hexapod robot that we built. Their applications based on our research and experiments are discussed. Our team built one and compared slow gait vs tetrapod gait in terms of stability. The data proved that slow gait is more stable since five legs are grounded sequentially lifting. The tetrapod gait leg movement can be wave-like, and it is faster but less stable. Their application also be discussed at the end of the essay, to see how much potential they have and how applicable they are in real-life situations. More features were added to the hexapod robot model, which now helps test many different abilities that a robot can provide in various applications.

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References

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