Mechanics and Simulation of Six-Legged Walking Robots

Abstract

Climbing & Walking Robots, Towards New Applications 2 variety of different gaits, which have the property of static stability, but one of the key characteristics of the locomotion control is the distribution. Thus, in contrast with the simple switching control of the "technical design", a distributed gait control has to be considered according to a "biological design" of a six-legged walking robot, which tries to emulate the locomotion of a particular insect. In other words, rather than a centralized control system of the robot locomotion, different local leg controllers can be considered to give a distributed gait control. Several researches have been developed in the world by referring to both "cockroach insect", or Periplaneta Americana, as reported in