A gait planning method applied to hexapod biomimetic robot locomotion

In order to fulfill the goal of autonomous walking on rough terrain, a distributed gait planning method applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait coordination mechanism of stick insect. The mathematical relation of walking velocity and gait pattern was depicted, a set of local rules operating between adjacent legs were put forward, and a distributed network of local rules for gait control was constructed. With the interaction of adjacent legs, adaptive adjustment of phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walking speed was implemented to generate statically stable gait. In the simulation experiments, adaptive adjustment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized, and static stableness was ensured simultaneously, which provided the hexapod robot with the capability of walking on rough terrain stably and expeditiously.