2A2-V02 Study on Gait Motion of Six-Legged Robot Using Associative Memory(Walking Robot (2))

Abstract

This study proposes a gait motion algorithm of six-legged robot using associative memory in order to walk in irregular field. This algorithm has a characteristic that enables the robot to recall next legs angle from present legs angle and touching the ground state sequentially. First, the algorithm is verified by ODE simulator. Secondly, the proposed algorithm is implemented to real machine. Finally, gait motion obtained by the algorithm is confirmed by experiments.