A Study of the Omnidirectional Gait for a Hexapod Walking Robot

摘要

The omnidirectional gait of a hexapod walking robot is studied in this paper.The static stability is analyzed.And,the straight going gait and stand still turning gait are planned;furthermore, the maximum stride of the straight going gait and the maximum turning angle of the standstill turning gait are derived.Finally,the simulation and experimental results verify that the proposed method is available and reliable.