Hexapod Walking Robot Locomotion

Path planning, gait planning and trajectory planning are assuming an increasing significance for Hexapod Walking robots and more generally, in legged robotics. Indeed, the trend for walking robots is to improve the speed, the stability, the navigation autonomy and the energy efficiency. In this Chapter it will be addressed the problem of Hexapod Walking Robots (HWR) locomotion. An overview of the State of the Art is carried out with references to the numerous contributions to this field. It will be provided a background on the topics of path planning, gait and trajectory planning for HWR locomotion. Special attention will be given to the hexapod gaits, starting from their classification together with a detailed description of most common ones. A case of study is described as referring to previous experiences at LARM in Cassino. Examples of a path planning, gait and trajectory planning are provided through kinematic and dynamic features of Cassino Hexapod leg operation.

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