Dynamically Stable Gait Planning of a Three-Legged Vertical Surface Climbing Robot

In this paper an attempt has been made to design a three legged vertical robot. Each leg of the robot is considered to have two links connected each other and with the trunk by revolute joint. The legs are symmetrically distributed over the trunk body. Movement of the Center of Gravity (CG) of the robot has been ensured considering one leg is moving at a time and other two are providing necessary support to the robot body. Motion equations of the robot have been derived using the concept of Newtonian mechanics. Thereafter, stability of the robot is analysed. Computer simulations have been carried out to test the navigation capability of the robot on a vertical surface. Performances are found to be satisfactory and computational complexity of the developed algorithms is found to be low.