Meisam Amiri - Phd Candidate, Department of Mechanical Engineering, Engineering Faculty, Tehran University
Mojtaba Mahzoon - Assistant Professor, Department of Mechanical Engineering, Shiraz University

In this paper, the planning and generation of leg trajectory for a walking cycle of hexapods are discussed. The studies reviewed here provide many insights into some of the cognitive level organizational principles behind trajectory determination. The fundamental starting point for this paper is the desire to produce a principled approach to the generation of leg trajectories for a hexapod robot. In order to gain some insight into this problem, research from applied Physiology literature is presented. There are several invariant features of point-to-point human leg movements: trajectories tend to be straight, smooth and have bell-shaped velocity profiles. One approach to accounting for these data is via optimization theory; a movement is specified implicitly as the optimum of a cost function, e.g. integrated jerk or torque change.

Hexapod – Trajectory Planning – Minimum Jerk