Design, Fabrication and Gait Analysis of a Dynamic Hexapod
DOI:
https://doi.org/10.38032/scse.2025.3.137Keywords:
Tripod Gait, Torque, Foot-end trajectory, Hexapod, ArduinoAbstract
Hexapod robots are increasingly used in hazardous environments where human intervention is risky. This study presents the design of a hexapod robot with a high-speed dynamic tripod gait, which ensures stability by keeping three legs grounded while the other three move forward. A detailed gait analysis was conducted, showing that the tripod gait enables efficient load distribution and continuous movement, even in challenging terrains. The foot-end trajectories for each leg were analyzed to optimize both translational and rotational motions. Torque calculations confirm the robot’s ability to carry its weight and perform smooth movement. The hexapod achieves a velocity range of 12–22 cm/s, with a battery runtime of 25.9 minutes and a body-supporting motor torque of 2.3 kg-cm. The results demonstrate that hexapod robots are well-suited for complex and risky environments through effective gait control and leg coordination
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Copyright (c) 2025 Adib Prottay, Abu Obaydillah Md. Nazib, Soumyanil Sadhu Deep, Fahim Ahmed (Author)
This work is licensed under a Creative Commons Attribution 4.0 International License.
All the articles published by this journal are licensed under a Creative Commons Attribution 4.0 International License
