Bio-inspired step crossing algorithm for a hexapod robot

Inspired by the observation that the cockroach changes the tripod gait to other gait to cross the step, we report on the design of the step crossing gait in a RHex-style hexapod robot which enables the robot to cross the step with height more than twice of the leg length. Similar to the cockroach´s motion, the gait is composed by two stages: rearing stage to lift the front side of the body, and lifting stage to maneuver the center of mass of the body to pass the edge of the step. The inclinometer is utilized to detect the height of the step during crossing, so the robot can automatically adjust the gait to cross the steps with different heights. The performance of the algorithm is experimentally evaluated.