An algorithm for optimal gait generation for level ground walking of an omnidirectional hexapod

This paper presents a near-optimal gait generation strategy for a hexapod called Nataraj, developed in I.I.T. Bombay. Various constraints like stability, foot force, leg workspace and leg collision that affect the walk, are taken into consideration to maximize the stroke of a leg during stance phase by making it pass through the center of workspace. The gait generated extracts maximum stroke length subject to the constraints, with minimum number of legs on ground during locomotion.