Omni-directional walking control for a six-legged robot using differential kinematics algorithm

This paper introduces omni-directional walking control of a six-legged robot (6LR). The 6LR consists of its body, six legs with four links and four rotational joints. The followings are done for this task. First, the walking gait of the 6LR is chosen. Second, modeling for one leg with four links and four rotational joints of the 6LR is proposed. It is difficult and complex to get the angles of four rotational joints in the case of using inverse kinematics. To solve this problem, differential kinematics algorithm is used to generate omni-directional walking trajectory of a leg based on back-stepping control using Lyapunov stability. Finally, simulation results for walking motion of one leg of the 6LR are shown to prove the effectiveness and applicability of the proposed controller.