Fully automated obstacle-crossing gaits for walking machines

The authors present a study on fully automated gaits which can be used to cross over four standard types of obstacles: grade, ditch, step, and isolated-wall. These gaits are simulated using computer graphics. The designer can arbitrarily select the dimensions of one obstacle, the computer program then generates a series of preprogrammed movements which enables a hexapod to cross over the obstacle in a fully automated mode. This study demonstrates the feasibility of fully automated obstacle-crossing gaits for the use of an all-terrain walking machine