Gait study for hexapod walking with disabled leg

摘要

If one of the six legs of a hexapod walking robot is disabled, static walking may be maintained by the remaining five legs. However, to maintain the static stability at maximum, gait study for five legged walking is necessary. Hence, this paper describes a method of gait study for such situation. Since it is very difficult to find out suitable gait by use of analytical method without any model such as insects walking, we employed a high-powered computer. Some devices are applied to reduce the number of computations. As the result, we have got two kinds of gaits which can maintain the gait stability margin at high level.