A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine

Abstract

A new type of gait and steering algorithm for use by a six-legged walking machine is developed and presented in this study. The spatially oriented tripod follow-the-leader gait is an extension of previous studies of temporal follow-the­ leader gaits and should prove useful for all-terrain walking vehicles, such as the Adaptive Suspension Vehicle. Tractor-trailer style steering is introduced as an effort to tailor steering control for this type of gait. Both gait and steering algorithm are implemented on a color graphics computer simulation for study and comparison with other walking algorithms.