Real-time online feet trajectory generation method for hexapod robot

Abstract

Hexapod walking robot is a complex electromechanical system with many degrees of freedom. Six legs ensure robots stability as at least three legs are always on the ground but require more effort in order to synchronize them for a successful locomotion. In this paper we present a method that allows to calculate feet trajectories in real-time and online. This method enables to select different gaits and their parameters.