Gait Planning of one Amphibious Robot with Six Arc Legs

Amphibious robots are widely studied due to its adaptation to different environments. The tripod gait and tetrapod gait are important patterns for the amphibious robot and usually works on smooth surface. This paper mainly focuses on the simulation of the tripod gait and tetrapod gait patterns of one amphibious robot with six arc legs. What's more, the effects of different support phases on the motion of the robot are analyzed by using the virtual prototype software ADAMS. The presented analysis and simulation method here will benefit the design and the promotion of the amphibious robot.

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