Kinematic Analysis of Six-Legged Robot

Abstract

Nowadays, robots are applied in many fields which means flexibility in robot movement is always in high demand. A walking robot is a form of a mobile robot that is gentle to the environment, and it is possible to move through various settings while selecting landing points. In this study, a systematic approach for dealing with a controlling algorithm is proposed for the six-legged walking robot. A mathematical model is applied for studying the kinematics and gaits of the six-legged robots based on parallel and serial kinematic mechanism theory. The kinematic analysis is based on classical kinematic theory, which uses a formulation that is helpful in computer algorithms. The experiment results show that the effectiveness of robot design and control algorithms are responsive to different movements.