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1 Machine Dynamics Research

1 2018

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Analysis of Contact Forces Between the Ground and the Hexapod Robot Legs During Tripod Gait

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Grzelczyk D. , Awrejcewicz J.

tom Vol. 42, No. 2

17--26

The aim of the study is kinematic and dynamic simulation of a hexapod robot walking with a classical tripod gait on a ﬂat surface. To drive robot legs, a novel central pattern generator is applied. Time series of the robot’s kinematic and dynamic parameters are reported to assess the applied control method. Ground reaction forces and overloads acting on the hexapod legs are estimated on the basis of the inverse dynamics concept. For better analysis and illustration of the studied hexapod, the simulation model of the robot, suitable for virtual experiment son the locomotion process, is developed in Mathematica software. The obtained results indicate some advantages of the applied central pattern generator.