PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO
Translational Motion Analysis of a Hexapod
Walking Robot
G. Evangelista, D. Lzaro
Abstract This paper focuses on translational motion analysis
of a hexapod walking robot, for this, use is made of conventions
published in 2010 by Xilun Ding, Zhiying Wang, Alberto Rovetta
and J.M. Zhu, which are support for the parameters of this study.
The analysis is divided in three parts: step phases, locomotion of
movement and walking gaits; in the first part, was analyzed the
movement phases: Transfer and support, and how each movement is
formed. The second part defines features such as: periods, duty
factor, lengths, offsets, support polygon, work area, gaits and crab
angle; in the walking gaits, are studied four types suggested: Tripod,
quadruped, 4+2 quadruped and Pentapod. Finally, we propose an
analysis formulation and an application model, concluding that it
can be applied to any type of hexapod robot and can be the starting
point for future research in the field of path planning for walking
robots.
Keywords Locomotion analysis, hexapod robot, step trajectory,
tripod gait, quadruped gait, quadruped 4+2 gait, pentapod gait.
I. INTRODUCTION
he term locomotion comes from the physical
T phenomenon known as motion (change of position or
orientation in space). The locomotion therefore refers to a
movement realized by a body for moving from one place to
another or rotation thereof about a point in a plane; a body can
be a person, animal or machine, and it means that locomotion
varies according to the shape, structure, propulsion system or
other factor that depends on the reference subject.
The locomotion of the living creatures is current topic of
interest, since it is intended based on related physical of their
motion, understand and improve the mechanisms of propulsion
and / or to establish parameters to determine what would be the
appropriate positions to perform some type of movement.
From the branches associated to this subject, the robotics
according to architecture classifies a bio-inspired robots at:
articulated, mobiles, androids, zoomorphic and hybrid. In the
classification of the articulated, the hexapods (mechanical
vehicles that walk on six legs), have brought considerable
attention in recent decades, this is because they have significant
advantages over wheeled robots to walk on uneven ground
(with no continuous contact with the surface). There are several
advantages of a hexapod model: high degree of flexibility in the
manner in which it can move, robustness in case of failure of
the extremities and the possibility of using one, two or three
legs to work as hands and perform complex operations with
them.
The most studied problem for multi-legged robots, is how
to determine the best sequence for the elevation and location of
the legs in the walking cycle. From the point of view of stability,
G. Evangelista Adrianzn, Universidad Privada Antenor Orrego (UPAO),
Trujillo, La Libertad, Per, gevangelistaa@upao.edu.pe
D. Lzaro Cerna, Universidad Privada Antenor Orrego, Trujillo, La
Libertad, Per, dlazaroc@upao.edu.pe
167
the locomotion of the robot can be classified into dynamic, such
as running or jumping, and static, such as walking [1].
Is because that this article focuses on the analysis of
statically stable translational motion of a hexapod robot in order
to define and parameterize four different gaits: Tripod,
quadruped, 4+2 quadruped and pentapod.
II. STEP PHASES
The step is the basic unit of displacement which compose a
different types of walking, the step is itself composed of two
phases of motion:
Support Phase: The legs performs a supporting / stance
cycle in contact with the displacement surface, generally
formulated by a linear or trapezoidal equation [2].
Transfer Phase: The legs performs a transferring / swing
cycle over the surface of displacement, generally
formulated by a parabolic equation or -degree
polynomial.
III. MOVEMENT LOCOMOTION
In order to understand the way in which the robot moves, it
requires a synthesis of characteristics about step and that can
produce movement:
Support / Stance Period: Period in which it the performs
the support stance, denoted as:
Transfer/ swing period: Period in which it performs the
transfer stance, denoted as:
Step Period: Period in which it conducts a full step,
denoted as , where:
= + (1)
Duty Factor (): Is the ratio between the period of support
and step period, where:
= (2)
Stroke Length: Is the distance traveled in the support phase.
Stride Length: Is the distance that moves the center of
gravity (COG) during a complete cycle of locomotion.
Origin Offset: Displacement of final effector respect its
origin.
Support Polygon: Is formed during the support phase, this
polygon is constructed from the union of points of the end
effectors of legs in contact with the surface, this
characteristic varies respect at gait and offset of origin.
Work Area: Space formed by all the coordinates in which
can be locate the end-effector.
Periodic Gait: Is periodic if similar states of the same leg
during successive strokes occur at the same interval for all
legs, that interval being the cycle time.
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Symmetric Gait: Is symmetric if the motion of legs of any Features:

right-left pair is exactly half a cycle out of phase. - = 23 in each of the legs
Regular Gait: Is said to be regular if all the legs have the - The stroke length is of the stride length
same duty factor. - Present a quadrilateral such a support polygon
Crab angle (): It is defined as the angle from the - The gait is periodic, non-symmetric and regular.
longitudinal axis to the direction motion, which has the
positive measure in the anti-clockwise. C. 4+2 Quadruped gait: It is characterized by have 4 or 5
legs en every support stage [6]:
IV. WALKING GAITS TABLE III
4+2 QUADRUPED GAIT PHASES
A walking is a sequence of actions that have a moving unit
to a step, there are many types of gaits which can adopt a STAGE SUPPORT TRANSFER
hexapod robot, but these, differ in the type of approach; when 1 2 -3 -4 -5 1 -6
2 1 -2 -3 -5 -6 4
is adopted from a living creature, is called biological approach, 3 1 -3 -4 -6 2 -5
which is based on the Central Pattern Generator (CPG) [3] and 4 1 -2 -4 -5 -6 3
when is artificially created (Physical and Kinematic Equations)
is called the classical approach. Features:
The description of gaits will be from the classical approach - = 34 in each of the legs
and for this is required the numbering the legs relative to the - The stroke length is of the stride length
body and displacement plane, as shown in figure 1: - Present a quadrilateral such a support polygon in
the 1 and 3 stage
- Present a pentagon such a support polygon in the 2
and 4 stage
- The gait is periodic, non-symmetric and regular.

D. Pentapod Gait: It is characterized by have 5 legs en

every support stage [7]:

TABLE IV
PENTAPOD GAIT PHASES
Figure 1. Numbering of legs for a hexapod robot with symmetrical distribution.
STAGE SUPPORT TRANSFER
A. Tripod Gait: It is characterized by have 3 legs in every 1 1 -2 -3 -4 -6 5
2 1 -2 -4 -5 -6 3
support stage [4]: 3 2 -3 -4 -5 -6 1
4 1 -2 -3 -4 -5 6
TABLE I 5 1 -2 -3 -5 -6 4
TRIPOD GAIT PHASES 6 1 -3 -4 -5 -6 2

STAGE SUPPORT TRANSFER Features:

1 1 -4 -5
2 2 -3 -6
Features:
- = 12 in each of the legs
- The stroke length is of the stride length
- Present a triangle such a support polygon
- The gait is periodic, symmetric and regular.
B. Quadruped gait: It is characterized by have 4 legs in
every support stage [5]:
TABLE II
QUADRUPED GAIT PHASES
STAGE SUPPORT
1 2 -3 -5 -6
2 1 -2 -4 -5
3 1 -3 -4 -6
2 -3 -6 - = 56 in each of the legs
1 -4 -5 - The stroke length is of the stride length
- Present a pentagon such a support polygon
- The gait is periodic, non-symmetric and regular.
V. ANALYSIS FORMULATION
Due to the generality of parameters synthesis is possible that
the implementation may be adaptable to many types of gaits,
this will depend on the number of degrees of freedom and their
distribution in the body.
A. End-Effector Trajectory:
To the displacement in the four types proposed, is
TRANSFER presented in figure 2 a trajectory for the end-effector:
1 -4
3 -6
2 -5
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8( 0 )2
= [ 0 ] (4)
2

On the other hand, the horizontal axis shows a linear

equation:
= +
Where:
: Coordinate on the horizontal axis
: Starting point on the horizontal axis
:

As is in the plane, the axes which are compounds

are:
= 0 + sin()
Figure 2. Transfer and support phases on three dimensional plane. = 0 + cos()

Where: It should to note that the start point and iteration

0 : Origin offset at axis interval are obtained by solving a system of two
0 : Origin offset at axis equations.
0 : Origin offset at axis
0 : Midpoint in each phase Support Phase
: Maximum height in the transfer stage The horizontal axis shows a linear equation, such as:
: Stride length [cm] = +
: Iteration interval Where:
: Crab angle [0, 180]. : Coordinate on the horizontal axis
: Starting point on the horizontal axis
The phases of the end-effector trajectory (support and :
transfer) have a distance of /2, therefore the operating
range for both phases is [0 4 , 0 + 4], where The equations for X and Y axes are:
= 0 + sin()
is dependent de .
= 0 + cos()
Transfer Phase
And the vertical axis is now a constant value: 0
The vertical axis shows a parabolic equation, such as:
( )2 = 4( ) (3) Finally, the formulation of analysis can be summarized
Where: in the following table:
: Coordinate on the horizontal axis
: Coordinate on the vertical axis TABLE V
(, ) : Vertex MOTION EQUATIONS FOR STAGES
: Focal distance.
TRANSFER SUPPORT
8( 0 )2
The parameters are defined considering that the = [ 0 ] = 0
2
horizontal axis is formed by the XY plane and that the
= =
orientation depends exclusively of the crab angle. = 0 + sin() = 0 + sin()
Vertical Axis : = 0 + cos() = 0 + cos()
Horizontal Axis :
Vertex : (0 , + 0 ) VI. APPLICATION MODEL
Points on Parabola: (0 4 , 0 ) & (0 + 4 , 0 )
The analysis formulation must be validated by applying this
By replacing the vertex and one of the points on to one type of gaits (this is called application model); now, will
parabola in equation (3) it obtain the focus, and solving be performed the formulation of quadruped gait based on the
for Z in parabolic equation, is obtained: analysis above, in order to obtain the position equations of each
16( 0 )2 end-effector.
= [ 0 ]
2
A. Features of end-effector trajectory
These features are general and can therefore be applied
If in transfer phase, the maximum height is equal to the to any of the four gaits:
distance walked, will be fulfilled that: Maximum
height = maximum distance, and then replacing =
0 = 12.38 (lateral length of the leg)
/2 in previous equation, obtain:
0 = 3 1,2
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0 = 3 5,6 B. Quadruped Gait Formulation

0 = 10.51 (robot height). Using table V and considering the characteristics of
the end-effector trajectory, is possible to obtain the
The origin offset parameters refer to the spatial position equations per stages:
position of the end-effector (in walking position)
relative to the origin of the first system on the leg; First Stage: 0 /3
considering that in the first system of the leg, the x-axis
is pointing to the next system and y-axis is pointing to 1 = [0: /2]
x-axis of universal system (this depends on the 1 = 12.38 + 1.5 sin()
1 = 0 + 1.5 cos()
allocation of reference systems and degrees of
1 = [8(1.5 /4)2 + 10.51 /2]
freedom), see figure 3. 4 = [0: /2]
4 = 12.38 + 1.5 sin
4 = 0 + 1.5 cos
4 = [8(1.5 /4)2 + 10.51 /2]
3,5 [0: /4]
3,5 = 12.38 0.75 sin()
3,5 = 0 0.75 cos()
3,5 = 10.51
2,6 [0: /4]
2,6 = 12.38 0.75 sin()
Figure 3. Assignment of reference systems and spatial position of the end- 2,6 = 0 0.75 cos()
effector in leg 2.
2,6 = 10.51

= 7 Second Stage: /3 < 2/3

Working area: The figure 4 and figure 5 show a
surface generated for an [0,90]. 3 = [/4: /4]
3 = 12.38 + (1.5 0.75) sin()
3 = 0 + (1.5 0.75) cos()
3 = [8(1.5 0.75)2 + 10.51 /2]
6 = [/4: /4]
6 = 12.38 + (1.5 0.75) sin
6 = 0 + (1.5 0.75) cos
6 = [8(1.5 0.75)2 + 10.51 /2]
1 = [/2: /4]
1 = 12.38 + 0.75( ) sin()
1 = 0 + 0.75( ) cos()
1 = 10.51
4 = [/2: /4]
4 = 12.38 + 0.75( ) sin()
4 = 0 + 0.75( ) cos()
4 = 10.51
2 = [/4: /2]
2 = 12.38 0.75 sin()
2 = 0 0.75 cos()
Figure 4. Working area for end-effector of the leg 3.
2 = 10.51
5 = [/4: /2]
5 = 12.38 0.75 sin()
5 = 0 0.75 cos()
5 = 10.51

Third Stage: 2/3 <

2 = [/2: 0]
2 = 12.38 + 1.5( ) sin
2 = 0 + 1.5( ) cos
2 = [8(1.5( ) + /4)2 + 10.51 /2]
5 = [/2: 0]
5 = 12.38 + 1.5( ) sin()
5 = 0 + 1.5( ) cos()
5 = [8(1.5( ) + /4)2 + 10.51 /2]
1,3 = [/4: 0]
1,3 = 12.38 + 0.75( ) sin()
Figure 5. Working area for end-effector of the leg 4.
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1,3 = 0 + 0.75( ) cos()
1,3 = 10.51
4,6 = [/4: 0]
4,6 = 12.38 + 0.75( ) sin()
4,6 = 0 + 0.75( ) cos()
4,6 = 10.51

VII. RESULTS

In this section, the application model is extended to the four

gaits, the purpose is get the position of the end-effector for each
leg in the step trajectory.

A. Tripod Gait
It was generated using 300 iterations a gait period of 3
seconds, this has a stroke length of 2.5cm and an Figure 7. Quadruped gait locomotion.
iteration delay of 10ms. The behavior is showing in the
figure 6 and is due to the following parameters: C. 4+2 Quadruped Gait
It was generated using 110 iterations a gait period of
= 5
1.1 seconds, this has a stroke length of 3cm and an
0 = 12.38
iteration delay of 10ms. The behavior is showing in the
0 = 5 1,2 figure 8 and is due to the following parameters:
0 = 5 5,6 = 6
0 = 10.51 0 = 12.38
= 0 0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 90

Figure 6. Tripod gait locomotion.

B. Quadruped Gait
It was generated using 210 iterations a gait period of
2.1 seconds, this has a stroke length of 3.5cm and an Figure 8. Locomotion of the 4+2 quadruped gait.
iteration delay of 10ms. The behavior is showing in the
figure 7 and is due to the following parameters: D. Pentapod Gait
It was generated using 130 iterations a gait period of
= 7
1.3 seconds, this has a stroke length of 2.5cm and an
0 = 12.38
iteration delay of 10ms. The behavior is showing in the
0 = 3 1,2 figure 9 and is due to the following parameters:
0 = 3 5,6 = 5
0 = 10.51 0 = 12.38
= 90 0 = 4 1,2
0 = 4 5,6
0 = 10.51
= 35.
 PON29_IES2013IEEE INTERNATIONAL ENGINEERING SUMMIT29-31 DE OCTUBRECOATZACOALCOS, VERACRUZ, MEXICO
Figure 9. Pentapod gait locomotion.
VIII. DISCUSSIONS
The results obtained of the iterations during a complete
cycle of locomotion, show that the legs have a behavior and
characteristics identical to those described in the walking gaits,
thus proving that yes could parameterize and formulate the
motion equations in the four types of gaits and this through a
single analysis.
The crab angle influence can be observed in the behavior of
x and y axis at different results, thus proving, that determines
the direction of motion regardless of gait type; but if want to
perform a backward movement, this can be generated by a
down counter for .
IX. CONCLUSIONS
Based on the motion parameters proposed, the description
of the four gaits was performed without resorting a
parameters or special characteristics, thus providing a
generalized analysis model and independent to the selected
type.
To improve the static equilibrium of the robot (support
polygon), should be apply an origin offset of positive value
to the 1,2 legs and negative to 5,6 legs.
The parameter crab angle solves the problem of
independent equations in the horizontal plane, the
orientation of the trajectory depends only on this
parameter, which determines the equations per axis of
dependent manner.
If the analysis is implemented in a hexapod robot and want
to test it in a non-uniform terrain, will require the use of
sensors to detect surface; this will not alter the design of
the analysis, only will make the 0 parameter becomes a
variable.
ACKNOWLEDGMENT
The authors would like to thank to Filiberto Azabache for his
help and support in making this work possible. Also to RGEE-
UPAO for providing all the facilities that enabled this research
possible.
172
APPENDIX
Software developed for the analysis of locomotion:
https://drive.google.com/folderview?id=0B_JXOKvBtg_
HVmF2QWp5YW93Ums&usp=sharing
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Guillermo Evangelista is an Electronic Engineer graduated
from the Universidad Privada Antenor Orrego. He currently
teach Electronic Engineering in the UPAO, where he is also
a member of the Engineering Research Unit and advisor
Engineering Research Group Electronics (RGEE). His
research interest is the mathematical modeling for
polyarticulated robots and UAV units, as well as the development of solutions
based artificial vision for industrial applications and non-invasive monitoring.
Denis Lzaro is student of Electronic Engineering at the
Universidad Privada Antenor Orrego, and present is Vice-
President of the RAS-IEEE / UPAO.