Science – Future of Lithuania / Mokslas – Lietuvos Ateitis, Vol 2, No 1 (2010)

Analysis of Hexapod Robot Locomotion

Tomas Luneckas


Hexapod robot locomotion is analyzed. Trajectory forming method for one leg is introduced. Servo angles are expressed using geometric inverse kinematics method. Forming of tripod gait is described and a diagram representing it is presented. Servo control parameters are defined to ensure fluent and versatile robot control. Several servo control methods are presented. After testing robot movement using different servo control methods, gait generation is corrected and control method that meets servo control parameters is chosen.

Article in Lithuanian

Article in: Lithuanian

Article published:

Keyword(s): hexapod robot; tripod gait; leg trajectory; inverse kinematics; servomotor

DOI: 10.3846/mla.2010.008

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Science – Future of Lithuania / Mokslas – Lietuvos Ateitis ISSN 2029-2341, eISSN 2029-2252
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