Abstract

One of the most relevant topics in the design of legged robots is to perform movements. The aim of this article is to present a set of algorithms that allow a six-legged walking robot to achieve the mobility of its different legs among irregular or no established actions, this gait is known as: free locomotion. The development of these algorithms using fuzzy logic allows the system to have a redundant behavior. The algorithms evaluation is performed by simulating the locomotion process of the robot.

Key words: Walking robot, free locomotion, margin stability, fuzzy logic, adaptive algorithm, predictive algorithm.