Straight Gait Research of a Small Electric Hexapod Robot

Gait is an important research content of hexapod robots. To better improve the motion performance robots, many researchers have adopted some high-cost sensors or complex gait control algorithms. This paper studies straight a small electric robot with low cost, which can be used in daily life. The strategy “increasing duty factor” put forward planning, aims to reduce foot sliding and attitude fluctuation motion. gaits include tripod gait, quadrangular pentagonal described conveniently by discretization time sequence diagram. In order facilitate user achieve all kinds motion, online transformation algorithm based on adjustment positions proposed. addition, according feedback actual information, yaw angle correction kinematics analysis PD controller designed error robot. experiments show that planning scheme are effective, expected RMSE row, pitch, was reduced 35%, 25%, 12%, respectively, using strategy, limited range −3°~3° algorithm. Finally, comparison related works limitations discussed.