Gait analysis and shaft synchronization of hexapod walking vehicle via fuzzy logic

This work is concerned with gait analysis of legged locomotion vehicle and the effect of shaft synchronization and type of gaits on vehicle positioning error using fuzzy logic. An Experimental setup was prepared to represent hexapod walking vehicle. Different types of gaits model for hexapod vehicle were presented. Fuzzy logic controller was adopted to implement coupling synchronization concepts and according to human experience and knowledge base The results show that the vehicle traces the planning straight path with minimum error for the case of in phase gait type, and the results show also that the tripod and wave gaits show wavy and tracking errors of about 15% more than in-phase gaits motion due to unsymmetrical support and transfer phase during motion. Cross coupling shaft synchronization enhances the positioning errors in either straight or circular paths.