The algorithm allows to generate various gaits for hexapod walking robots. This method is based on kinematic model of the robot an can be used on flat terrain. An implementation of the tripod gait has been shown although any type of static stable gait can be implemented. The use in teleoperation and trajectory planning system has been shown.



  1. D. Belter, Parameterized gait generation system for hexapod walking robot (in Polish), Krajowa Konferencja Robotyki, pp. September 3-6 2008

  2. D. Belter, Parametryzowane wzorce ruchu dla sześcionożnych robotów kroczących (in Polish), Studia z automatyki i informatyki, tom 33, pp. 45-58, 2008