This article deals with the problem of planning and controlling a radially symmetricsix-legged walker on an uneven terrain when a smooth time-varying body motion isrequired. The main difficulties lie on the planning of gaits and foot trajectories. As forthe gaits, this article discusses the forward wave gait of a variable duty factor and avariable wave direction. With the commanded body motion, the maximum possiblyduty factor is computed using the speed limit of the leg swing motion. Guaranteeing thismaximum duty factor contributes to obtain higher stability.Weprove the ‘‘continuity’’ ofthis forward wave gait planning algorithm adds the versatility to gaits planned. The foot trajectory planning algorithm dynamically generates a smooth foot trajectory as afunction of the instantaneous body motions by modifying standard leg motion templates.The robot can negotiate an uneven terrain by modifying a vertical leg motion by asignal of tactile sensors on the foot. The experiments prove that the robot can successfullytrack smooth curves with body rotations on an uneven terrain, and thus prove therobustness of the algorithms.
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