On the hexapod Robot's gait optimization: A dynamic perspective on the limbs actuation

Abstract

[Excerpt] It is known that in hexapod robots, the feet’s trajectory is the key feature for generating efficient gait. The kinematic parameters of the feet’s motion, such as the bodies’ velocity when reaching the trajectory’s posterior extreme position, can significantly affect the interaction between the foot and the ground, and consequently, the limb’s actuation. In the literature, common strategies to improve feet motion involve adjusting gait patterns and velocity [1]. Yin et al. [2] studied the relation of the foot’s trajectory with the dynamic motion of the robot. In this work the foot’s swing motion of a hexapod is analyzed. In the sequel of this process, a foot trajectory to improve the energy consumption is proposed, which is based on the torque developed at the joints. In addition, an optimization strategy to study the stride length, for both regular and irregular terrains, is proposed. Using locomotion performance parameters, a cross-examination between the Cost of Transport (CoT), Froude number, and stability is discussed.