Getting over Wide Obstacles by a Multi-Legged Robot

An upper estimate for the maximum width of a forbidden foothold zone that a multi-legged walking robot can overcome in static stability mode is presented. By using mathematical models of six- and four-legged robots, it is shown that the estimate cannot be improved. For this purpose, foot placement sequences are formed for which the estimate is attained. The dependence of the maximum width of the zone on the body length is found for the six-legged robot model.