Free gait generation method for omnidirectional locomotion on abrupt terrain with multi-legged biomimetic robot

In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot, a free gait generation approach is proposed based on local rules. The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented; the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward; combined polynomial curve was adopted to generate the leg-end trajectory, which was capable of accomplishing walking missions and accommodating to landform conditions; a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs. In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized. Moreover, statically stable free gait was obtained simultaneously, which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.