Kinematic and dynamic analysis of a hexapod walking-running-bounding gaits robot and control actions

Soyguder S. , Alli H.

Computers and Electrical Engineering, vol.38, no.2, pp.444-458, 2012 (Journal Indexed in SCI Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 38 Issue: 2
  • Publication Date: 2012
  • Doi Number: 10.1016/j.compeleceng.2011.10.008
  • Title of Journal : Computers and Electrical Engineering
  • Page Numbers: pp.444-458


Kinematic and dynamic analysis, and control actions of a hexapod robot were realized for walking, running and bounding gaits in this study. If biological inspiration can be used to build robots that deal robustly with complex environments, it should be possible to demonstrate that legged biorobots can function in natural environments. Firstly, we tried to report on theoretic work with a six legged robot designed to emulate spider behavior like walking, running and bounding. We demonstrated theoretically that it can successfully walk, run and bound like a spider over natural terrain. Secondly, limitations in its capability were evaluated, and many biologically based important improvements were obtained for future experimental work. Thirdly, the hexapod robot with bounding gait was controlled by proportional-derivative control algorithm and was carried out by using spring loaded inverted pendulum model. Consequently, the developed kinematic and dynamic methods, and control action method makes both the system control easy and the system performance is improved by decreasing the run time for each loop. © 2011 Elsevier Ltd. All rights reserved.