Adaptive wave gait for hexapod synchronized walking

A merit of hexapod walking robots is robustness to recover irregular situations. For example, even if one of the six legs is broken down, the hexapod machine may keep the walking. In this article, we propose a new gait rule named adaptive wave gait. The gait rule corresponds to not only the six legged walking, but also the five legged walking. Meanwhile, we also propose a synchronized motion control which is very important factor for the multiple legged walking. By combining the adaptive wave gait and the synchronized motion control, the gait generation and gait transition can be executed smoothly, and they realize natural walking of hexapod robots