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Static Stability Analysis of Hexagonal Hexapod Robot for the Periodic Gaits

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 IJCCCE Vol.14, No.3, 2014

_____________________________________________________________________________________

Static Stability Analysis of Hexagonal Hexapod Robot

for the Periodic Gaits†

Dr. Firas A. Raheem1, Hind Z. Khaleel2

1
Control and Systems Engineering Department, University of Technology, Baghdad-Iraq
2
Control and Systems Engineering Department, University of Technology, Baghdad-Iraq
e-mail: dr.firas7010@yahoo.com, hhindzuhair@yahoo.com

Received: 26/05/2014

Accepted: 11/09/2014

Abstract – H exagonal hexapod robot is a flexible mechanical robot with six legs. It
has the ability to walk over terrain. The hexapod robot likes insect so it has the same
periodic gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to
stay statically stable at all the times during each gait in order not to fall with three or
more legs continuously contacts with the ground. The safety static stability walking can
be indicated by the stability margin. In this paper we based on the forward, inverse
kinematics for each hexapod’s leg to simulate the hexapod robot model walking for all
periodic gaits and the geometry in order to derive the equations of the sub-constraint
workspaces for each hexapod’s leg. They are defined as the sub-constraint workspaces
volumes when the legs are moving without collision with each other and they are useful
to keep the legs stable from falling during each gait. A smooth gait was analyzed and
enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The
equations of the stability margins are derived and computed for each gait. The
simulation results of our enhanced path planning of the hexapod robot approach whish’s
include all the gaits are statically stable and we are compared between all stability
margins for each gait. In addition, our results show clearly that the tripod gait is the
fastest gait while the wave and the ripple gaits are more stable than the tripod gait but
the last one has less peaks of stability margins than others.

Keywords – Kinematics, Stability margin, Workspace, Hexapod robot.

† This paper has been presented in ECCCM-2 Conference and accredited for publication according to
IJCCCE rules.

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr.Firas A. Raheem and Hind Z. Khaleel.

1. Introduction into account both in mechanical

Multi-legged robots display significant construction of vehicles and in
advantages with respect to wheeled ones development of control strategies [8].
for walking over rough terrain because Besides that, these issues are using
they do not need continuous contact with models that mathematically explain the
the ground. In Multi-legged robots, verities of situations and for that; the
hexapod robots, mechanical vehicles that robot modeling becomes a practical tool
walk on six legs, have attracted in understanding systems complexity and
considerable attention in recent decades. for testing and simulating diverse control
There are several benefits for hexapods approaches [9].The robot structure
rover such as: efficient one to maintain considered has (6) identical legs and each
for statically stable static on three or more leg has (3) degree of freedom, in addition
legs, it has a great deal of flexibility in to that, all the related points for each joint
how it can move [1]. Legs do less damage have been put on the model, the legs
to the ground than tracks and wheels [2]. numbering as shown in Fig. 1, robot’s
During the walking of the legged robot, center coordinate o (xo, yo, zo).
there is a difficult problem of generation
and control of the sequence of placing and
lifting of legs such that at any instant
body should be stable and capable of
moving from one position to other. The
generation and sequence of such leg
motion is called gait [3].Hexapod robot
looks like insect so it has the same gait. If
a similar state of the same leg during
successive strokes in the same time for all
legs called “periodic gait” [1].These gaits Figure 1.Hexapod robot structure
are: Wave gait, Ripple gait, and Tripod
gait [4]. The optimally stable range of the The z-axis pointing up, the x-axis
wave gait has been studied in [5]. While pointing forward and the y-axis pointing
[6] calculated the loss stability for the left. Hexapod modeling consisting of two
phase modification of the wave gaits. In types, one is forward kinematic and its
[7] presented a new criterion for the inverse, below will discuss in details for
asymptotic stance stability of a statically each type of kinematic.
balanced legged robot.
In this paper the main problem is 2.1. Forward kinematics for One Leg of
when hexapod robot walking and may be hexapod robot
fall down if the legs are not constraints so The successful design of a legged robot
the static stability is analyzed according to depends to a large amount on the leg
constraints of each leg in order not to fall. design chosen. Since all aspects of
walking are ultimately governed by the
2. Modeling of Hexapod Robot physical limitations of the leg, it is
important to select a leg that will allow a
The legged locomotion verities by maximum range of motion and that will
verity of usual terrain and it presents a set not inflict unnecessary constraints on the
of difficult problems (foot placement, walking [10]. A three-revolute
obstacle avoidance, load distribution, kinematical chain (R1, R2, R3) has been
common stability) which must be taken

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

chosen for each leg mechanism in order to 4. Rotate α about xi-1 axis.
imitate the leg structure as shown in Fig. The overall transformation is obtained as
2. A direct geometrical model for each leg a product between three transformation
mechanism is formulated between the matrixes:
moving frame oi(xi, yi, zi) of the leg base,
where i=1…6, and the fixed frame o (xo, T =T T (2)
yo, zo) [10].
Considering Fig. 2 and using (2) the
coordinates of the leg tip are:
R
legbase
2
L
x = cosθ ∗ (L + L ∗ cosθ + L ∗ cos(θ − θ )),
1 R y = sinθ ∗ (L + L ∗ cosθ + L ∗ cos(θ − θ )),
d1
z1 x1
z = d + L ∗ sinθ + L ∗ sin(θ − θ ). (3)
L

y0 Where: d1 is the distance from the ground

R
z2 to the coxa joint. Li are the lengths of the
3

x0 x2
leg links.
L
yo
z3
xc 2.2. Inverse kinematics
x3
zo The geometrical model described
Figure 2. Model and coordinates frame for leg above establishes a link between the joint
kinematics. variable and the position and orientation
of the end frame. The inverse kinematics
In this paper the BH3-R hexapod robot problem consists of formative the joint
is taken as a case study of hexagonal angles from a given position and
hexapod robot. The lengths of the orientation of the end frame. The solution
hexapod’s leg are: L1 = (2.9 cm), L2 = of this problem is significant in order to
(5.7 cm), L3 = (10.8 cm) [11]. The robot transform the motion assigned to the end
leg frame starts with link (0) which is the frame into the joint angle motions
point on the robot body where the leg is matching to the desired end frame motion.
jointed to; link (1) is the coxa, link (2) is The goal is to find the three joint variables
the femur and link (3) is the tibia. Legs θ1, θ2, and θ3 corresponding to the desired
are distributed symmetrically around the end frame position. The end frames
axis in the direction of motion (x in this orientation is not a matter, since only
case). The general form for the paying attention in its position [10].
transformation matrix from link (i) to link
(i-1) using Denavit Hartenberg parameters
are given in (1) [10, 12]: x1,y1 Tibia joint
θ
y L2
cos θ − sin θ cos α sin θ sin α a cos θ
y
sin θ cos θ cos α −cos θ sin α a sin θ Leg tip
T = (1) Femur joint φ L3
0 sin α cos α d
0 0 0 1 φ x
x
φ
The transformation matrix is a series of Coxa joint
a
transformations: A x3,y3
B
1. Translate di along zi-1 axis.
2. Rotate θ about zi-1 axis. Figure 3 Illustrations for solving inverse
kinematics.
3. Translate α about xi-1 axis.

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

Using (3) and considering the

following constraints: all joints allow = acos
∗
(11)
rotation only about one axis, femur and
tibia always rotate on parallel axes, and Considering Fig. 3 B, the can be found
the physical limitation of each joint as follows [10]:
represents the joint angle.
The coxa joint angle can be found θ =π−φ (12)
using atan2(y,x) function as can be seen
from Fig. 3 A. 3. The Stability Analysis and
θ = atan2(y , x ) (4) Constraint Workspace
In this paper, the two methods of one leg
In order to determine the other two workspace are analyzed:
angles a geometrical approach was
considered. To further simplify the 3.1. Workspace of Hexapod’s Leg
approach the leg tip coordinates were In this paper the Hexapod's leg
transformed to coxa frame using the workspace has been computed and
transformation matrix below: analyzed. Hexapod's leg workspace can
defined as the set of reachable points by
(R ) −(R ) ∗d the end-effector for each foot. These
T = (5)
0 1
points (positions) depended on the leg
An angle φ which is the angle relating to orientation (the mechanical limits of the
the femur servo position, can be derived joints). The mechanical limits of the joints
directly from the triangle Fig. 3 B. restrict leg motion and are a major factor
to consider when developing walking
θ =φ (6) algorithm for a hexapod module. The
working volumes for each leg are
The angle is the angle between the x- identical because each leg of hexapod has
axis and line a, and can be calculated with the same geometrical configuration and
atan2 function: joint limits; the analyation of the two
approaches is evaluated the constraint
φ = atan2(y , x ) (7)
workspace for BH3-R hexapod robot [11].
The limits of the joint variables for a
Where x3 and y3 are the leg tip
representative one leg are shown in
coordinates in coxa frame. If it considers
Table1.
being the entire femur span and apply
the law of cosines results: Table 1. Range of angles for one hexapod’s leg.
φ = acos
∗ ∗
(8) Link Name The range of one robot’s leg angle in
degree
Where: Coxa −90 < < 90
Femur −45 < < 90
= + (9) Tibia 0 < < 135

Next the femur angle can be found from: These joint variable limits, then,
separate the reachable area from the
θ = acos
∗
+ atan2(y , x ) (10) unreachable area. Reachable areas move
with the body. The region included within
Again, applying the law of cosines to find the reachable area is known as the
the angle: unconstrained working volume (UWV).

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

The constrained working volume (CWV) were lack extent to its fullest, (θ = 1350)
is defined as a subset of the original the y-plane would equal (14.7cm) while
working volume, for each leg, that the z-plane equal (9 cm).
ensures static stability.
Therefore, the (CWV) sets soft limits 3.1.2. Constrained Workspace
for each leg so as to exclude points from The CWV used in this paper results
the working volume that may lead to from six basic constraints:
instability. In our case, the working  the height (z = plane) from the ground
volume is also constrained to prevent leg to the CB (center body of robot) = (10.8
collisions. An excluded area for hexapod's cm) is fixed for minimum, maximum
legs, then, is that part of the reachable reach, the vertical maximum reach equal
area where, if a foot were placed there, (24.25 cm) if θ = 800 and minimum
instability or leg collision might result. reach equal (21 cm) if θ = 97o,
 the suitable posture of robot = (22.35
cm) if θ = 90o,
 The terrain is flat,
 The legs are not allowed to collide or
overlap, and
 The horizontal workspace of hexapod
leg is The reachable areas include the
sections in the xy plane around the
individual coxas, y-plane = 24.25 cm and
within the mechanical joint limits but in
Figure 4.Flowchart Workspace of hexapod’s leg
this case limit joint (in proposed method,
Figure 4 shows that the flowchart of the half range of coxa angle is taken in
workspace. The workspace of robot leg is order not to the legs collide) soothe range
computed from kinematics and geometry is (−45 < θ < 45) degree. Another
as follow: approach is derived for Constrained
Workspace more details in [13], [14]. For
3.1.1. Unconstrained Workspace the hexagonal model the mathematically
The unconstrained horizontal (13) for the radius of the annulus is :
workspace of hexapod leg is the reachable
areas include the sections in the xy plane r = (r + Q) + ∗P (13)
around the individual coxas and within
the mechanical joint limits, the y plane Where: r ,r , Q, P defined by Fig. 5.
equal (33.15 cm). The unconstrained
vertical workspace, or z-plane reachable
area, depends on the height of the
hexapod’s center-of-body above the
terrain is (5.5 cm). To define the
maximum unconstrained vertical
workspace, If a leg were extended to its
fullest, the added lengths of radius body
(13.75 cm), coxa (2.9 cm), femur (5.7
cm), and tibia (10.8 cm) y-plane would
Figure 5.The relationship between the reachable
equal (33.15 cm). The minimum area and annuls.
unconstrained vertical workspace, If a leg

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

The rectangular area is the reachable area Leg 1 The support

L3
of each leg of robot, for our hexapod pattern
robot rmax = (10.5cm) from coxa joint. S3
L1 S1
Added the length of center robot (13.75 CB Leg 5
cm), rmax = (24.25 cm). The center of leg S2
tip point is (22.35 cm) that it is equal to L2
the posture robot in method1 above Leg 3
comparing between two constraints
Figure 6.The stability analysis for the tripod gait
workspaces methods and found that the when legs (1, 3, 5) on the ground.
maximum reaches of the leg are equal for
our hexapod robot. The triple equation of the Fig. 6 is:
1 1 1
3.2. Static Stability analysis of hexapod S = x x x (14)
robot y y y

The first gait of the hexapod robot is Where (x , y ) is the coordinate of CB

the tripod gait. In this gait the three legs point, (x , y ) the coordinate of Leg 1,
stay on the ground (support pattern) while (x , y ) the coordinate of Leg3.
the other legs are on the air. The analysis With expansion:
of static stability depended on the (14) in
S = [(x − x )(y − y ) − (x − x )(y − y )] (15)
[15] that only compute the S1, S2 and S3 in
the Fig. 6 of three triangles and there are L = sqrt((x − x ) + (y − y ) ) (16)
two conditions to set the robot stable first
If S1, S2 and S3are >= zero, the tripod is Where L1 is the distance between two
considered stable other, the tripod is points
considered unstable more details in [15].
From the definition of “stability margin,” H =2∗ (17)
(sm),is the shortest distance from the
vertical projection of the center of robot From other triangles as shown in Fig. 6
to the boundaries of the support pattern in the stability margin is computed as:
the horizontal plane [5] the proposed
sm = min(H , H , H ) (18)
method explained as below:
In Fig. 6 derived L1 is derived in (16) (the sm is the stability margin of the support
distance line between two points) and the pattern of legs (1,3,5), similarly, sm is
same thing for L2, L3 are computed for derived for other three legs (2,4,6) as
other legs, each L is considered as a base shown in Fig. 7 where the legs (2,4,6) are
of the one triangle while the areas of the stance on the ground and (1,3,5) in the air.
S1, S2 and S3 are previously computed so Also, (18) is derived for the other gaits of
that the stability margin is the shortest robot (wave and ripple).
perpendicular distances from L1, L2 and Leg 4
L3 to the center of robot (H1, H2, H3 L1
respectively). H1 is computed as in (17) as S1
well as the H2, H3 are computed in the Leg 2 S3
S2 L3
same manner. The stability margins are CB
analyzed and computed for all cases of L2
the legs motion for three gaits (tripod, Leg 6
ripple, wave) of hexapod robot as below: Figure 7.The stability analysis for the tripod gait
when legs (2,4,6) on the ground.

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 IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

In the wave gait only one leg in the air, Leg 1 L5 Leg 5
while the others are on the ground so the
support pattern is divided into five areas L1 S5 L4
S4
(S1, S2, S3, S4, S5) and the stability margin S1 Leg 6
CB
is evaluated for all the cases of wave gait S3
Leg 2 S2
as shown below: L3
L2 Leg 3

Leg 2 L5 Figure 11. Case 4 representation where the support

Leg 4
pattern (legs(1,2,3,6,5) on ground) of the wave
S5 gait.
L1 L4
S1 CB S4 Leg 5
Leg 1 L5
S3 Leg 4
S2 L3 S5
Leg 3 L2 Leg 6 L1 L4
S4 Leg 6
S1 CB
Figure 8. Case 1 representation where the support Leg 2 S3
S2
pattern (legs (2,3,4,5,6) on ground) of the wave L3
gait. L2 Leg 3

Figure 12. Case5 representation where the support

pattern (legs(1,2,3,6,4) on ground ) of the wave
Leg 1 L5 gait.
Leg 4
S5 L4
L1 Leg 1 L5 Leg 4
S1 S4
Leg 5
CB S5 L4
L1
S3 S1 S4
S2 CB Leg 5
L3
Leg 3 S3
L2 S2
Leg 6 L3
Leg 2 L2 Leg 3
Figure 9. Case 2 representation where the support
pattern (legs (1,3,6,5,4) on ground) of the wave Figure 13. Case 6 representation where the support
gait. pattern (legs(1,2,3,5,4) on ground ) of the wave
gait.

The stability margins of the ripple gaits as

Leg 1
Leg 4 shown:
L5
Leg 2 L4 Leg 5
S5 L4
L1
S4 S4
S1
CB Leg 5 L1 S1 S3 L3
CB
S2 S3
S2
Leg 2 L3
L2 Leg 6 Leg 3 L2 Leg 6

Figure 10. Case 3 representation where the support Figure 14. Case 1 representation where the support
pattern (legs (1,2,6,5,4) on ground ) of the wave pattern (legs (2,3,6,5) on ground) of the ripple
gait. gait.

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

Leg 1 L4 Leg 4 Where xtip , ytip the coordinates of leg

S4
tip derived from the forward kinematic,
is the direction of motion and describes
L1
S1 CB L3 how many centimeters per gait cycle the
S3
Leg 3
S2 hexapod robot should move.
Leg 6 The equations in swing phase are:
L2
πt
Figure 15. Case 3 representation where the support x = 2 ∗ ẋ ∗ dt(1 − cos ),
dt
pattern (legs (1,3,6,4) on ground) of the ripple πt
y = 2 ∗ ẏ ∗ dt(1 − cos ),
gait. dt
z = h ∗ (1 − cos ). (20)

Leg 1 ẋ , ẏ are the speed of the hexapod robot’s

L4 Leg 4
truck in x and y directions,dt is the time
S4 duration for each step and h is the height
S1 CB
L1 S3 of each step. After explained the
mechanism of leg motion, there is a need
S2 L3
to show the movement of the center of
Leg 2 body that moves from start point to the
L2 Leg 5
goal point so the new center point [15] is
Figure 16. Case 4 representation where the support calculated as:
pattern (legs (1,2,5,4) on ground) of the ripple
gait. CB = CB + L ∗ cos(ϕ),
CB = CB + L ∗ sin(ϕ). (21)

Where L is the step size.

4. Walking and path planning of The start point (0,0) and goal point
hexapod robot: (100,0) for the straight line.
The path planning and algorithm of legs
walking are explained as below:
5. Simulation Results
4.1. The mechanism of leg motion: The analysis of the stability margins
The mechanism of leg motion is very above for three gaits (ripple, wave, and
complex problem that each leg is forward tripod) are discussed and simulated for
and back motion. It derived from insect each gait within the steps as below:
motion that has two phases: swing (the a- The ripple gait cases
leg in the air) and stance (the leg in the
ground) phases [4].Equations of motion in
[16] are derived for two phases. The
walking of hexapod robot is developed by
combing the stance phase [16] explained
by (19) and the swing phase [17] as in
(20) to get our modified smooth gait for
one hexapod’s leg as below:
∗ ( )
xtip = xtip + ,
∗ ( ) Figure 17. The final sm1= 2.4724 cm while the
ytip = ytip + . (19)
robot lift two forward legs (1,4).

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

Figure 22. The robot lifting leg 3 the sm3= 6.6249

Figure 18. The final sm2= 14.7998 cm when the
cm.
robot lift middle legs (2,5).

Figure 23. The hexapod robot lift forward leg 4 so

the sm4= 5.9669 cm.
Figure 19. The last case of ripple gait in when the
robot lift middle legs (3,6) so the final value of
sm3= 1.0666.

The sm2 is more stable and larger support

pattern than sm1 and sm2 the last
stabilities values near to zero (critical
stable). Figure 24. The robot lift the middle leg 5 and the
sm5= 13.9808 cm.
b- The wave gait cases

Figure 20. The wave gait the sm1=6.0045 cm for

lifting leg 1.
Figure 25. The last case of the robot lift the last
leg 6 while the sm6= 6.5843cm.

The results of sm for two figures (21-24)

show that most stable values with the
other wave gait cases.
Figure 21. The robot lift middle left leg 2, the
sm2 = 13.9733 cm.

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IJCCCE Vol.14, No.3, 2014 Static Stability Analysis of Hexagonal Hexapod
Robot for the Periodic Gaits
Dr. Firas A. Raheem and Hind Z. Khaleel.

c- Tripod gait cases 6. Conclusion

In this paper the stability margins for
all periodic gaits are analyzed and
compared between the cases of each gait.
The gaits are statically stable because the
stability margins are positive values
which meet the leg’s constraint
Figure 26. The sm1= 6.6804 cm when the robot workspaces. In our path planning from the
lifting three even legs (2,4,6).
start point to the goal point shows clearly
that the tripod gait is the fastest gait
because of the less moving steps and time
period. In a comparison with the wave
and the ripple gaits are needed a long time
and more steps. Computing the stability
margins for these gaits during the path
planning process shows that the ripple
Figure 27. The second case of tripod gait for the gait has higher stability margins than the
sm2= 6.7628 cm when the robot lifting three odd wave gait which is also has a higher
legs (1,3,5). stability margins than the tripod gait.

The two results of stability margins and

the support pattern (i.e the yellow lines of
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