Hexapods are robots that have six legs. These robots don’t have much problem in locomotion in terms of balance and dynamic stability. Since legged robots can achieve static stability with three legs on the ground, hexapods have great flexibility in terms of locomotion methods. Hexapods can still be able to continue moving even if one or two of their legs stop working. Besides these, hexapods don’t have to use all of their limbs in locomotion to achieve stability. They can use some of their legs to manipulate its surroundings.
Hexapod robots generally mimic the locomotion methods of their biological counterparts. Most implemented locomotion methods of hexapods are alternating tripod method, trotting and crawling. In alternating tripod method, three legs move while the rest of the legs are standing on the ground keeping the robot stable. Trotting and crawling are originally quadruped locomotion methods, but hexapods can implement these to free some of their legs for different purposes. While trotting a pair of two legs move while the other two legs is standing down for stability. Crawling is one of the most stable walking gaits. While crawling, only a single legs changes position and the rest of the legs stand on the ground to provide stability.
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