Gait Analysis and Improvement of Hexapod Mobile Robot Using Tetrahedral-Shaped Pneumatic Soft Actuators

Feifei Cho, Kenta Hase, Tetsuya Akagi, Shujiro Dohta, Takashi Shinohara, and Masashi Yokota

In recent years, the aging of society has led to challenges for the elderly.  In this study, a straightforward model is presented for gait analysis of the mobile robot. Furthermore, the stability of the gait is demonstrated based on the analysis, and a more efficient gait with a sufficient stability margin is introduced.

Special Issue on “Humancentric Robotic Technology and its Applications for Coexistence with Humans”

Journal of Robotics and Mechatronics

Vol.35

No.3