Abstract—Nowadays, robots are applied in many fields which means flexibility in robot movement is always in high demand. A walking robot is a form of a mobile robot that is gentle to the environment, and it is possible to move through various settings while selecting landing points. In this study, a systematic approach for dealing with a controlling algorithm is proposed for the six-legged walking robot. A mathematical model is applied for studying the kinematics and gaits of the six-legged robots based on parallel and serial kinematic mechanism theory. The kinematic analysis is based on classical kinematic theory, which uses a formulation that is helpful in computer algorithms. The experiment results show that the effectiveness of robot design and control algorithms are responsive to different movements.

Keywords—legged robot, hexapods, six-legged robot, kinematics, gait

Cite: Tran Tuyet Quyen, Nguyen Minh Trieu, and Nguyen Truong Thinh, "Kinematic Analysis of Six-Legged Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 99-104, 2024.

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