Complex-order dynamics in hexapod locomotion

This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear springdashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with footforce feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot–ground transfer function, which presents complex-order dynamics. r 2006 Elsevier B.V. All rights reserved.