Kinematic model and absolute gait simulation of a six-legged walking robot

This paper deals with the kinematic model and absolute gait simulation of a six-legged walking robot that mimics the locomotion of the stick insect. In particular, a three-revolute (3R) kinematic chain has been chosen for each leg mechanism, as composed by the coxa, femur and tibia links. Thus, the direct and inverse kinematic analysis are formulated for each leg mechanism in order to develop the overall kinematic model of a six-legged walking robot and thus to perform the absolute gait with respect to the ground in different operating conditions. A significant numerical simulation of the absolute gait is shown.