Gait Planning and Stability Analysis for Multi-Legged Robots with Varying Leg Configurations

作者：Manjia Su, Sihang Zheng, Ruiwei Liu, Haoyu Yang, Xinming Li, Chaoda Chen, Jian Teng, Nvjie Ma, Shichao Gu, Yisheng Guan · 年份：2025 · DOI：10.1109/robio66223.2025.11376295 · 研究领域：Robotic Locomotion and Control、Prosthetics and Rehabilitation Robotics、Modular Robots and Swarm Intelligence

Multi-legged robots exhibit exceptional adaptability and stability in complex environments. However, maintaining locomotion capability when legs are damaged or missing poses significant challenges. This study focuses on a hexapod biomimetic spider robot and proposes a gait planning and stability analysis method applicable to varying numbers of legs. For hexapod robots, three gaits are considered; for pentapod robots (one leg missing), three gaits are analyzed; and for quadruped robots (two legs missing), two gaits are examined. The Center of Gravity (CoG) projection range for stable postures is determined by integrating the CoG projection method with the SP method. Corresponding gait optimization and adjustment strategies are proposed. To validate the proposed method, both simulation platforms and physical robots were developed and tested. Experimental results demonstrate that the proposed approach enables the hexapod robot to maintain good locomotion stability even when legs are missing.