Abstract
The paper deals with a free gait algorithm and its implementation into a hydraulic walking machine called MECANT. The gait planner is based on heuristic rules which take into account in every planning cycle the temporal direction and velocity of motion, availability of the legs to start a new working cycle, stability of the machine in the direction of the motion and possible collision of the neighbour legs. The free gait considered is especially useful in conditions when the machine is executing omnidirectional motion in rough terrain. Compared to wave gait or adaptive wave gait a more flexible motion and improved stability can be obtained. The paper includes verification experiments with a simulator and experiences with the real machine.
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