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In legged robots, there are changes in the sequence of legs and the foothold positions depending on the speed. The walking sequence, known as gait, is important for the robot's ability to move in a stable and less energy-consuming way. In this study, the previously developed ODE-based gait control algorithms for a six-legged mobile robot and the standard walking gaits were compared in terms of stability and repeatability. In the ODE-based gait control algorithm, dynamic effects are not neglected, as in standard gait patterns. Owing to this, the ODE-based gait controller has the ability to constantly balance itself against external disturbances. In order to test this feature of the control algorithm, the same comparison operations were repeated for a fixed motion scenario on a rotatable inclined floor. In this study firstly layered control architecture has explained which developed for ODE-based controllers. Thereafter, servo motor controllers, ODE based stability and ODE based gait controllers used in robot are introduced respectively. After in order to make the performance of these controllers comparable to the methods in the literature, standard gait patterns have been introduced. Following this section, the performance criteria to be used in the comparison procedures and the reasons for their selection are given. Later on, the rotatable inclined floor, which was builded in order to demonstrate the performance of the robot and controller used in the test system better, has explained. Afterwards, an experimental scenario in which the slopes are changed periodically over time was determined, with the aim of using this scenario in comparison experiments in which performed on the rotatable inclined floor. In the comparison results section, the experimental performance results shown by ODE-based gait controller and standard walking arrangements are given in detail through this test system and comparison criteria. As a result of the study, a 65 percent improvement was observed in stability of robot, both flat and inclined floor according to standard walking gaits.

A Comparison of Six Legged ODE (Open Dynamics Engine) Based Gait control Algorithm and Standard Walking Gaits