Omnidirectional rule-based free gait utilizing restrictedness

Abstract

Adaptable gaits are pivotal for allowing legged robots to navigate difficult terrain. One of the best gait styles to accomplish this goal is the rule-based free gait. First the forward and inverse kinematic solutions are solved for TigerBug, a circular hexapod. Then a rule based free gait is implemented on the circular hexapod in order to provide a platform for future rough terrain navigation.