## Abstract

This paper presents the simulation of different gaits of an hexapodal robot when it is traversing a range

of terrains with various geometries. At first, the specific architecture of the robot considered here and its

components are described. Then, to prepare for the real life implementation of a gait algorithm on this

robot, simulations are run to establish its capability to efficiently traverse terrains. To this aim, the robot

as well as various terrains are implemented on a robotic software package, namely CoppeliaSim. How the

software works and in particular the specificity of the selected physics engine are briefly discussed. Then, a

gait algorithm is proposed for which an exact solution to the inverse kinematic problem exist. Subsequently,

simulations are performed and results discussed. The main metric used in this paper to measure the perfor-

mance of the gait is the energetic cost of travel from two fixed points. This metric is used to deduce optimal

geometric parameters of the gait, i.e. body and step heights as well as the radius of the contact circle of the

feet on the ground. The main terrains simulated in this work are a flat surface and an inclined plane. The lat-

ter is used to evaluate the maximal angle of the slope that the robot can safely climb. However, another final

simulated terrain consisting of a rough random surface, mimicking a rocky terrain, is also used to illustrate

the limits of a fixed gait algorithm.

of terrains with various geometries. At first, the specific architecture of the robot considered here and its

components are described. Then, to prepare for the real life implementation of a gait algorithm on this

robot, simulations are run to establish its capability to efficiently traverse terrains. To this aim, the robot

as well as various terrains are implemented on a robotic software package, namely CoppeliaSim. How the

software works and in particular the specificity of the selected physics engine are briefly discussed. Then, a

gait algorithm is proposed for which an exact solution to the inverse kinematic problem exist. Subsequently,

simulations are performed and results discussed. The main metric used in this paper to measure the perfor-

mance of the gait is the energetic cost of travel from two fixed points. This metric is used to deduce optimal

geometric parameters of the gait, i.e. body and step heights as well as the radius of the contact circle of the

feet on the ground. The main terrains simulated in this work are a flat surface and an inclined plane. The lat-

ter is used to evaluate the maximal angle of the slope that the robot can safely climb. However, another final

simulated terrain consisting of a rough random surface, mimicking a rocky terrain, is also used to illustrate

the limits of a fixed gait algorithm.

Translated title of the contribution | Simulation de démarches d'un robot hexapode traversant différents terrains |
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Original language | English |

Title of host publication | Gait simulation of an hexapodal robot walking across various terrains |

Publication status | Published - Jun 2021 |

Externally published | Yes |