Abstract: Aiming at the problem of fast walking gait of multilegged robots in variable terrain environment, the leg mechanism and motion mode of multilegged robots were studied. Two types of robot leg walking mechanisms were designed, the one is sixlink leg mechanism, the other is geardriven leg mechanism. Based on these two types of leg walking mechanisms, the octopod robot was assembled. Firstly, the walking mechanism and overall structure of each leg of octopod robot was designed and analyzed, and in accordance with each leg mechanism, the suitable gaits were selected, that is, the diagonal gait of front and rear connecting rod legs and the singleline straight gait of middle gear legs. Secondly, the walking performance of two different leg structures of octopod robot was reviewed, and its kinematic was also analyzed. Finally, the diagonal gait and stepbystep motion modes of the robot were analyzed as a whole, and the two motion modes of the robot were simulated by ADAMS software, which ensures the comparisons between postprocessing curves and motion analysis.The results indicate that the walking performance of the robot is stable and two motion modes are feasible as well.
Key words: leg walking mechanism; eight legged robot; motion simulation; stability