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.