Alonso-Puig A. (2006) Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod. In: Tokhi M.O., Virk G.S., Hossain M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg
Gait generation for legged robots has been studied since decades. Different ways of generating them for rough terrain have been proposed with more or less success. Here we propose a method for gait generation based on triple periodic functions, which parameters are automatically altered to ensure a smooth walking over rough terrain.