Abstract
The paper reviews the main strategies for the leg co-ordination of a six-legged walking machine. A “free gait” algorithm is presented which allows a smooth and stable motion for an arbitrary velocity vector of the vehicle, including a rotation about the vertical axis. It consists of a rule-based central decision process, based on the analysis of a six component vector called ‘leg phase state’ The co-ordination strategy consists of preventing gait states where two neighbouring legs are lifted simultaneously. It is shown that, for a uniform translation with no spin, the free gait algorithm is optimal with respect to static stability.
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