Research on Gait Planning and Static Stability of Hexapod Walking Robot

摘要

The study object of this paper is a kind of bionic hexapod walking robot. Vertical straight walking tripod gait and horizontal straight walking tripod gait of the robot are researched. With these two kinds of tripod gait, this paper provides the method to compute the step length of robot. At the same time, the static stability of these two kinds of tripod gait has been analyzed in this paper. The conclusion is that under the strategy of the tripod gait to walk, when the step length of the robot meets certain conditions, the state of robot motion is static stable.