Gait Planning

Movements that produce locomotion

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What is Gait?
After designing a leg mechanism it is necessary to perform a leg and a body motion sequence to make the mechanism move. This sequence is known as Gait. It is defined by the time and the location of the placing and lifting of each foot in order to move body from one place to another.

Types of Gaits
Statically balanced: Characterized by a relatively slower speed locomotion. Dynamic effects become negligible during the locomotion Dynamically balanced: Characterized by a fast speed locomotion Dynamic effects are significant

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CLASSIFICATION
Repetiti on based Statically balanced Gaits Terrain based Obstacle walking Periodic Nonperiodic Level walking Wave gait Equal phase gait

Gaits on Longitudinal walking perfectly Crab walking smooth terrain Turning motion Forbidden areas terrain Follow the leader Free adaptive

Dynamic ally balanced

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Wave Gait
In the Wave Gait, front pair of legs are moved forward, followed by the middle and then the rear one. Since only 2 legs are lifted at a time, with the other 4 being down, the robot is always in a highlystable posture.

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Diagrammatic view of Wave Gait

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Tripod Gait
A tripod consists of the front-back legs on one side and the middle leg on the opposite side. For each tripod, the legs are lifted, lowered, and moved forwards and backwards in unison the weight is simply shifted alternately from one tripod to the other

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Diagrammatic view of Tripod Gait

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Straight- Forward Walking Gate

Straight Forward or Longitudinal walking Gait has zero body rotation in direction identical to that of the longitudinal axis of the trunk body of the robot The angle between the direction of motion and the longitudinal axis of the robot body is zero

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Crab Walking Gait

Walking in the direction other than the longitudinal axis with zero body rotation The angle between the direction of motion and the longitudinal axis of the robot body is known as crab angle

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Turning Motion Gait

Walking motion of a robot about a turning center During turning the heading direction of the body changes Most important for the omnidirectional walking of a multi legged robot

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GAIT TERMINOLOGIES

With respect to wave gait of six legged robot

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 Gaitit is defined as time and location of placing and lifting of each foot, coordinated with the motion of the body, in order to move the body from one place to another.

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 Transfer or swing phaseIt is period during which foot is not on the ground.

Support phaseIt is Period during which foot is on the ground.

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 Cycle time(T)It is time for one complete cycle for leg locomotion of periodic gait.

Duty factor()it is time fraction of complete cycle time during which a particular leg is in support phase.

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 Stride()It is the distance through which center of gravity translates during one complete locomotion cycle.

Leg stroke(Rs)Distance through which the foot tip of a leg is translated relative to trunk body during support phase.

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 Periodic gait A gait is called periodic if similar states of same leg during successive strokes occur at same interval for all legs, that interval being the cycle time. otherwise it is a non periodic gait.

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 Symmetric gait A gait is symmetric if the motion of legs of any right-left pair is exactly half a cycle out of phase.

Regular gaitA regular gait is gait with same duty factor for all the legs

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Wave gaitIt is periodic, regular and symmetric gait, in which the sequence of placing events of the legs on each side runs from the rear leg and proceeds forward to the front leg.

Lateral offset(Y)Shortest distance between vertical projection of the hip on the ground and the corresponding track.

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Mathematical Relation between terms

Leg transfer Time=ta support time=ts Cycle time,T=ta+ts Duty factor = ts/T.

Velocity v=Rs/ts

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Conclusion
Thus, stroke Rs=v*ta*/(1-). Leg transfer time decreases with increasing duty factor. high duty factor , faster is the rate of transfer.

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