Dynamic Gait Switching for Hexapod Robots

Hexapod robots exhibit superior navigation capabilities on rough and unmodified terrains, but gait control and switching are complex. This paper describes a novel gait library approach that allows for dynamic gait switching that facilitates faster gait transitions, rapid response to limb loss, and flexible configuration for different hexapods. The gait library is validated on the open-source H.O.R.E.A. platform in terms of gait switching times and rapid response to loss of a limb. The gait switching is relative to the swing speed, resulting in a fast response time. Additionally, the gait manager adapts to the loss of one or two limbs, resulting in an approximate 23% drop in speed with each leg removed, except for the wave gait, which showed an increase of around 10% for each leg.