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Kinematic Modeling and Simulation of Multi-Turning Gaits of Hexapod Walking Robot

Abstract—To avoid various obstacles in real-life scenarios, legged robots adopt different skills. Curve walking is a dominant skill for multi-legged robots as it increases the maneuverability of the robot. This study focused on hexapod walking robot kinematic modeling and simulation using multi statically stable walking gaits on flat terrain. The forward and inverse kinematic model of the six-legged robot is developed. Trajectory planning for each step in both stance and swing phases is performed using higher-order polynomials. The effectiveness of the suggested approach is verified by performing a simulation of different gait types, including straight (forward and transverse), angular, and curved motion. MATLAB software is successfully utilized for the simulation process of the main hexapod walking gaits including, tripod, ripple, and wave gait.