Kinematic and dynamic analysis of a hexapod pronking gait robot and control actions

Abstract

This in this study, A hexapod robot was carried out walking, running and pronking with Spring Loaded Inverted Pendulum (SLIP) model in stance phase. This is solving a natural problem in which the main goal is to enable the robot to walk, run and pronking in a stable condition regardless of the environmental conditions. In order to solve this problem, kinematic and dynamic analysis, and control actions of a hexapod robot were realized for a pronking gait in this study. In addition, the stance and flight phase dynamic structures were solved in a sequential closed loop to obtain the equation of motion for pronking gait. The hexapod robot with pronking gait was controlled by PD control algorithm. As a result, all computer simulations have shown that the proposed control actions and method are more effective and make the system control quite easy and successful. © 2012 by World Scientific Publishing Co. Pte. Ltd.