Kinematic and dynamic analysis of a hexapod walking–running–bounding gaits robot and control actions

Kinematic and dynamic analysis, and control actions of a hexapod robot were realized for walking, running and bounding gaits in this study. If biological inspiration can be used to build robots that deal robustly with complex environments, it should be possible to demonstrate that legged biorobots can function in natural environments. Firstly, we tried to report on theoretic work with a six legged robot designed to emulate spider behavior like walking, running and bounding. We demonstrated theoretically that it can successfully walk, run and bound like a spider over natural terrain. Secondly, limitations in its capability were evaluated, and many biologically based important improvements were obtained for future experimental work. Thirdly, the hexapod robot with bounding gait was controlled by proportional-derivative control algorithm and was carried out by using spring loaded inverted pendulum model. Consequently, the developed kinematic and dynamic methods, and control action method makes both the system control easy and the system performance is improved by decreasing the run time for each loop.

Graphical abstractThe stance and flight states of legs for Walking–Running–Boundig Gaits.Figure optionsDownload full-size imageDownload as PowerPoint slideHighlights► We present a hexapod walking-running-bounding gait robot modeling. ► We demonstrated theoretically that it can run like a spider over natural terrain. ► The developed dynamic and control action method make the system control easy. ► Besides, the system performance is improved by decreasing the run time for each loop.