Locomotion of Hexapod Robot

Abstract: A hexapod robot is a recent innovation in the field of robotics which has a great deal of flexibility. This paper describes the locomotion of a power autonomous, six-legged hexapod robot. The robot has six limbs-one motor located at each limb that is robust and has operation in real-world tasks. Stable and highly maneuvrable locomotion arises from a simple open-loop tripod gait. The robot achieves fast and robust forward locomotion traveling at speeds up to one body length per second and walks with a continuum of statically stable insect like gaits in response to a single, scalar user input that controls the speed of locomotion.

Keywords: power autonomous, six-legged hexapod robot, maneuvrable locomotion.