On Transit Gait Programming of Six-legged Wall-climbing Robot

摘要

Transit gait programming is a key problem for a multi-legged robot to climb automatically from the ground up the wall, as well as between wall intersections. In this paper, a new idea is put forward by which the complex transit gait is decomposed into a sequence of two relatively simpler parts — single-leg motion and body pitching motion. An algorithm based on the above concept shows its feasibility and effectiveness in the graphic kinematics simulation.