A Survey on Hexapod Walking Robot and Gait Planning

Abstract

A survey on hexapod walking robots and gait planning is presented. For the discrete landing points, the redundant DOF of legs and the impending body, the performance of hexapod walking robots is better than wheeled robots and tracked robots. The prototypes of hexapod walking robots and its up-to-date development are introduced. The gait planning of the hexapod walking robot is discussed and the selection of landing points in the unstructured environment is summarized. The developing tendency and some further research contents in this domain are indicated.