Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators

In recent years, the aging of society has led to challenges such as ensuring adequate facility capacity and promoting health maintenance for the elderly. Consequently, there has been a growing demand for rehabilitation and fitness equipment suitable for use in limited spaces such as homes. In a previous study, a hexapod mobile robot, equipped with six tetrahedral-shaped pneumatic soft actuators (TSAs), was developed as a core training device to address these issues. However, the robot’s gait was investigated experimentally via a trial-and-error process. Hence, it is necessary to examine the stability of the gait. In this study, a straightforward model is presented for gait analysis of the mobile robot. Furthermore, the stability of the gait is demonstrated based on the analysis, and a more efficient gait with a sufficient stability margin is introduced.