Fully automated obstacle-crossing gaits for walking machines

Fully automated gaits are studied that can be used to cross four types of simplified obstacles: grade, ditch, step, and isolated-wall. These gaits are simulated using computer graphics. The designer can arbitrarily select the dimensions of one obstacle; the computer program then generates a series of preprogrammed movements that enables a hexapod to cross over the obstacle in a fully automated mode. The study demonstrates the feasibility of fully automated gaits for walking over these four major types of obstacles. With further research, fully automated gaits for crossing over obstacles of general geometry may be expected