Kinematic and Gait Analysis Implementation of an Experimental Radially Symmetric Six-Legged Walking Robot

Abstract

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an experimental hexapod robot. The results show that the robot walks well as it was simulated.