Simulation of the Insect Robot Walking over Level Terrain

This paper presents a simulation procedure for generating a gait pattern and lateral motion sequence of a six legged robot. Gait pattern was studied and presented in the horizontal plane while lateral motion sequences were analyzed in the sagittal plane. Both analytical and graphical methods are used to study and to present gait and motion analysis over level terrain. Walking over level terrain demands particular gait selection, which is different from gaits for walking over irregular terrain. On one hand, restricting robot’s motion onto level terrain can be seen as restricting mobility of the hexapod model by neglecting the gaits for irregular terrain and their properties. On the other hand, focusing on the level terrain gaits provides a chance for development of the model. Finally, through Matlab simulation, the usefulness of proposed simulation procedure is shown and results of the simulation are given.