Compliance-based dynamic steering for hexapods

David Zarrouk, Ronald S. Fearing

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations


This paper proposes a novel dynamic gait of locomotion for hexapedal robots which enables them to crawl forward, backward, and rotate using a single actuator. The gait exploits the compliance difference between the two sides of the tripods, to generate clockwise or counter clockwise rotation by controlling the acceleration of the robot. The direction of turning depends on the configuration of the legs -tripod left of right- and the direction of the acceleration. Alternating acceleration in successive steps allows for continuous rotation in the desired direction. An analysis of the locomotion is presented as a function of the mechanical properties of the robot and the contact with the surface. A numerical simulation was performed for various conditions of locomotion. The results of the simulation and analysis were compared and found to be in excellent match.

Original languageEnglish
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Number of pages6
StatePublished - 1 Dec 2012
Externally publishedYes
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: 7 Oct 201212 Oct 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866


Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CityVilamoura, Algarve

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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