Performance Analysis of Working Six-Legged Robots to Climb up onto Steps

Abstract

A working six-legged robot which can switch three modes for locomotion and manipulation was developed. In order to enhance the mobility of this robot, the present study analyzes its performance of climbing up onto steps using dynamic simulator ODE. First tripod gait on horizontal plane is applied to step climbing. The climbable step height by normal walking is analyzed. Second a gait for this robot of climbing up onto higher step with keeping its body horizontal is proposed.