Application of Waves Displacement Algorithms for the Generation of Gaits in an All Terrain Hexapod

  • Alejandro Alonso-Puig
Conference paper


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.


gaits hexapod rough terrain 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Alejandro Alonso-Puig
    • 1
  1. 1.Quark Robotics S.R.L.Spain

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