Research on Gait Optimization of Hexapod Robot Based on Joint Torque and Stability Margin Analysis_Vol. 4 No. 2 (JES 2026)_Journal of Engineering System (ISSN: 2959-0604)

Home > Journal of Engineering System (ISSN: 2959-0604) > Vol. 4 No. 2 (JES 2026) >

Research on Gait Optimization of Hexapod Robot Based on Joint Torque and Stability Margin Analysis

Download PDF

DOI: https://doi.org/10.62517/jes.202602204

Author(s)

Yixuan Han, Tianrui Li, Zhuodong Li*

Affiliation(s)

College of Mechanical Engineering, Yangtze University, Jingzhou, Hubei, China *Corresponding Author

Abstract

To address the issues of motion stability and performance enhancement of hexapod biomimetic robots in complex environments, this study focuses on a hexapod robot, combining the D-H modeling method with the Lagrangian dynamics principle to establish an analytical model. Body structure design and typical gait planning are carried out. The feasibility and stability of the gait are verified through simulation analysis, the influence of speed variations on joint torque and stability margin is explored, and relevant kinematic analysis is performed. The results indicate that the hexagonal body layout effectively reduces leg motion interference, and increasing the body size helps improve the static stability margin. Among the gaits, the tripod gait achieves the highest movement speed, while the in-place turning gait is less affected by speed changes and exhibits excellent stability. Increasing the drive torque of the root joint significantly improves the robot's movement speed. This study provides a theoretical reference for the structural design and gait optimization of hexapod biomimetic robots.

Keywords

Hexapod Biomimetic Robot; Structural Design; Gait Planning; Kinematic Analysis

References

[1] Fu X, Zheng Y, Ma S J, et al. Technological Innovation of Intelligent Hexapod Robots in Outdoor Detection Field. Information Recording Materials, 2025, 26(09): 36-38. [2] Zrnic N D, Gasic V M, Bonsjak S M. Dynamic responses of a gantry crane system due to a moving body considered as moving oscillator. Archives of Civil & Mechanical Engineering, 2015, 15(1):243-250. [3] Chen S Q, Li S Y, Lu Z G, et al. Review of Key Technologies for Hexapod Robots. Mechanical & Electrical Engineering Technology, 2022, 51(11): 146-152. [4] Sun H C, He L L, Jiang W W, et al. Development of Hexapod Robot Based on Bionic Principle. Technology Innovation and Application, 2024, 14(30): 32-35. [5] Zhang J Z, Jin Z L, Zhao Y M. Dynamics analysis ofleg mechanism of six-legged firefighting robot. Journal of Mechanical Science and Technology, 2018, 32(1): 351-361. [6] Li Tao, Cai Jing, Jin Junyi, et al. Gait Design and Motion Study of Hexapod Bionic Robot. Mechanical Science and Technology, 2024, 43(9):1685-1695. [7] Salehian A, Seigle RT M, Inman D J. Dynamic effects of a radar panel mounted on a truss satellite. AIAA Journal, 2007, 45(7):1642-1654. [8] Wang Y Z, Wang Y C. Motion Structure Design and Simulation Analysis of a Linkage-type Hexapod Mobile Robot. Mechanical Engineer, 2026, (02): 143-146. [9] Liang Hongji, Li Junli, Zhu Xiaoying, et al. Trajectory Tracking Control of Quadrotor UAV Based on Fast Adaptive Super-Twisting Sliding Mode Algorithm. Control Engineering, 1-9[2026-04-08]. https://doi.org/10.14107/j.cnki.kzgc.20240269. [10] Men Tingfeng, Cao Le, Xu Haoyang, et al. Adaptive Motion Control Method for Biomimetic Hexapod Robot Based on Fusion Gait. Chinese Journal of Medical Physics, 2025, 42(10): 1374-1383. [11] Chen K Y, Chang J Y, Sheng C Y, et al. Attitude Control of Hexapod Creeping Climbing Robot Based on Fuzzy Control. Journal of Heilongjiang University of Science and Technology, 2026, 36(01): 122-128. [12] Yang Yubin, Gao Qiang, Guo Wenguang. Research on Leg Control of Hexapod-Tracked Composite Robot//Smart Information Processing Industrialization Branch of China High-Tech Industrialization Research Association, National Key Laboratory of Space-Based Intelligent Information Processing, Editorial Office of Computer Engineering and Applications. Proceedings of the 19th National Conference on Signal and Intelligent Information Processing and Application. School of Information Science and Technology, Beijing University of Technology; Beijing Houtai Intelligent Technology Co., Ltd., 2025: 140-144. [13] Ma Xiufeng, Zhang Qifeng, Sun Yingzhe. Gait Design and Motion Simulation of Biomimetic Hexapod Robot. Computer Simulation, 2023, 40(02): 255-260+269. [14] Zhang Y J, Yang Y K, Xiao Z X, et al. Dynamic Simulation Analysis of Hexapod Ant Bionic Robot. Machinery Design & Manufacture, 2024, (11): 83-87.