Structural design and gait planning for hexapod spider robotics

In the field of robotics, bionic robots have been performing increasingly impressive tasks in environments that are unsuitable for humans. These tasks include anti-terrorism, explosion prevention, space exploration, and disaster relief. Bionic robots have significant research value. Among these robots, the bionic spider robot has broad application prospects due to its inherent bionic characteristics and unique structures, which have attracted the attention of many researchers. In this paper, the development of a hexapod spider robot is introduced, and the research progress of its static stability and duty cycle gait is analyzed. Furthermore, a comprehensive analysis is conducted to examine the impact of various duty cycle gaits on the mechanical design of the robot, focusing on its bionic performance and stability. Additionally, a hexapod three-joint three-legged gait robot is designed. This design improves the trunk distribution mode, reduces the likelihood of mutual interference of legs, and enhances the flexibility and stepping distance of the legs of the robot. After evaluating the locomotion patterns of three-legged, four-legged, and five-legged gaits, the three-legged gait scheme was chosen as it strikes a balance between stability and speed. Finally, this paper looks forward to future research and provides inspiration for researchers in related fields.