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The footholds of multi-legged robots should be considered carefully because the motion of legged robots is generated by the interaction between their footholds and the terrain. Follow-the-Contact-Point (FCP) gait control can reduce the complexity of foothold planning by only requiring planning the foothold for the foremost legs. This paper proposes a real-time foothold planning method for FCP gait control. The proposed method plans the foothold position for the foremost legs to contact. The experiments with our hexapod robot confirm the effectiveness of the proposed method.

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Foothold Planning for Hexapod Locomotion Based on FCP Gait Control Including the Foremost Leg to Contact

  • 会议论文

  • 发表日期：

    2026年

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  • Hirotaka Hosogaya,
  • Shinkichi Inagaki,
  • Ryota Kato,
  • Ritsuki Kobayashi,
  • Tatsuya Suzuki

摘要

The footholds of multi-legged robots should be considered carefully because the motion of legged robots is generated by the interaction between their footholds and the terrain. Follow-the-Contact-Point (FCP) gait control can reduce the complexity of foothold planning by only requiring planning the foothold for the foremost legs. This paper proposes a real-time foothold planning method for FCP gait control. The proposed method plans the foothold position for the foremost legs to contact. The experiments with our hexapod robot confirm the effectiveness of the proposed method.