Free gait generation based on discretization for a hexapod robot

In this paper, a discrete model of stepping is built based on the discretization of reachable areas. Based on the discrete model of stepping and the state transition rules, the stable state space is constructed and the issue of gait planning is transformed into the reordering problem of states in the stable state space. Then a new free gait generation algorithm is proposed. Through simulation results, we may come to the conclusion that the robot with the free gait generation algorithm can generate stable fusion gait to make the hexapod robot controlled like the wheeled robot, just by providing the desired advance direction and speed.