Development of a walking algorithm for stair formed obstacle for the hexapod walking robot LCR200

People have developed the underwater robots such as ROV, AUV, etc. But, most of them use a propeller which has ruinous effects on the seabed ecosystem and weakness under the tidal current. That´s why a hexapod walking robot LCR200 has been developed. To explore the ocean successfully, LCR200 must walk on the seabed stably. In order to develop walking algorithm for seabed, we assumed seabed is a combination of several simple shaped obstacles such as a flat ground, an inclined plane, a declined plane, a stair form and so on. In this paper, we proposed a walking algorithm for a stair formed obstacle among various types of obstacles. The stair walking algorithm was developed based on flat ground walking algorithm and was verified through simulation.