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 fl...

Applications such as demining and planetary exploration require locomotion over unstructured terrain. A suitable approach to solve this problem is to use legged robots, because of the flexibility that they can offer, together with a compact size. Deciding on the gait patterns of the robot that optimizes such criteria as energy consumption, walking speed and providing a good stability margin aga...

The central pattern generator (CPG) has been found to be a real, existing neuron controller for the locomotion control of animals and it has been used on bio‐inspired robots widely in recent years. However, research on the adaptability of CPG‐based locomotion control methods is still a challenge. In particular, the performance of the CPG method on qua...

Studies on biped robots have attracted interest due to such problems as inherent poor stability and the cooperation of a large degree of freedom. Furthermore, recent advanced technology, including hardware and software, allows these problems to be tackled, accelerating the interest. Actually, many sophisticated biped robots have already been developed that have successfully achieved such variou...

We describe the design, construction and control of a quadruped robot which walks on uneven terrain. A control system which produces a statically stable gait has been implemented; results showing a straight and turning gait are presented. The control of quadruped robots poses interesting challenges due to a small stability margin (when compared to hexapods for example). For this reason most imp...

In order to minimize the invasiveness of intestinal disease diagnosis and surgery, we propose an anchoring and extending micro-robot. The gait of the micro-robot was designed according to the biomechanical features of the intestinal tract. The locomotion condition showed that the anchoring capability and extending ability should be balanced to enhance locomotion efficiency. The mechanical and c...

The implementation of a biped robot gait is a challenging task within the field of mobile robotics. Particularly, when the robot is subject to unknown disturbance in constantly changing terrain, a stable and robust gait is crucial. Regarding the machine together with the controller as an integrated system, the Dynamical Systems Approach yields a new perspective on legged robots. So called Limit...

In this paper, we address the problem of traversing rough terrains with a hexapod robot. In contrast with other known approaches, we utilise the built-in sensors of the used smart servo drives, which leads to a cheap solution without a need of additional or external sensors. The proposed approach is based on a tactile detection of the ground and proposes a body leveling method that adapts to th...