The biomimetic research on new-style hexapod robot’s locomotion planning

We observe the movement of Camponotus japionicus Mary with the use of high speed digital photography and computer assistant analysis. The experiment not only provides biomimetic foundation to multi-legged robotspsila polynomial trajectory planning which is deduced by mathematics, but also gives five conclusions which apply to hexapod bio-robots marching locomotion planning. The first is the fundamental strategy of multi-legged robotspsila feet trajectory planning. The second can enhance static and dynamic stability of multi-legged robots. The third can improve falling pointspsila validity and feasibility of multi-legged robotspsila feet. The last two give criterion of multi-legged robotspsila feet trajectory figures and recommendatory restricting terms in practice. This locomotion planning accords with biomimetic and mathematical principle, and establishes theoretic foundation of multi-legged robots linear locomotion planning. Also the conjunction way of experimentation and biomimetics research improves biomimetic robots technology effectively.