Implementing and testing a reasoning-based free gait algorithm in the six-legged walking machine, “MECANT”

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, the availability of the legs to start a new working cycle, the stability of the machine in the direction of motion, and possible collisions between neighboring 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 experience with the real machine.