Home > Published Issues > 2024 > Volume 13, No. 1, 2024 >
IJMERR 2024 Vol.13(1): 99-104
doi: 10.18178/ijmerr.13.1.99-104

Kinematic Analysis of Six-Legged Robot

Tran Tuyet Quyen 1, Nguyen Minh Trieu 2, and Nguyen Truong Thinh 2,*
1. Soc Trang Vocational College, Soc Trang, Vietnam
2. College of Technology and Design, University of Economics Ho Chi Minh City, Ho Chi Minh City, Vietnam
Email: ttquyen@svc.edu.vn (T.T.Q.); trieunm@ueh.edu.vn (N.M.T.); thinhnt@ueh.edu.vn (N.T.T.)
*Corresponding author

Manuscript received January 16, 2023; revised March 28, 2023; accepted May 25, 2023; published February 6, 2024.

Abstract—Nowadays, robots are applied in many fields which means flexibility in robot movement is always in high demand. A walking robot is a form of a mobile robot that is gentle to the environment, and it is possible to move through various settings while selecting landing points. In this study, a systematic approach for dealing with a controlling algorithm is proposed for the six-legged walking robot. A mathematical model is applied for studying the kinematics and gaits of the six-legged robots based on parallel and serial kinematic mechanism theory. The kinematic analysis is based on classical kinematic theory, which uses a formulation that is helpful in computer algorithms. The experiment results show that the effectiveness of robot design and control algorithms are responsive to different movements.

Keywords—legged robot, hexapods, six-legged robot, kinematics, gait

Cite: Tran Tuyet Quyen, Nguyen Minh Trieu, and Nguyen Truong Thinh, "Kinematic Analysis of Six-Legged Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 13, No. 1, pp. 99-104, 2024.

Copyright © 2024 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.