GAIT MODIFICATION STRATEGY FOR A SIX-LEGGED ROBOT WALKING ON ROUGH TERRAIN

This paper presents the concept and selected results of a gait modification system for a six-legged robot walking on rough terrain. The robot modifies the sequence of leg’s transfer phases according to the roughness of the terrain. On a flat terrain the robot uses tripod gait and according to the roughness factor the gait is modified to more secure cyclic wave and free gaits. Results of simulations with the motion planning algorithm on rough terrain are provided. The influence of the proposed strategy on the efficiency of the motion planning algorithm is presented.