Liu et al. Chin. J. Mech. Eng.

(2018) 31:63
https://doi.org/10.1186/s10033-018-0263-0 Chinese Journal of Mechanical
Engineering

ORIGINAL ARTICLE Open Access

Static Force Analysis of Foot of Electrically

Driven Heavy‑Duty Six‑Legged Robot
under Tripod Gait
Zhen Liu1, Hong‑Chao Zhuang2* , Hai‑Bo Gao1, Zong‑Quan Deng1 and Liang Ding1

Abstract
The electrically driven six-legged robot with high carrying capacity is an indispensable equipment for planetary
exploration, but it hinders its practicability because of its low efficiency of carrying energy. Meanwhile, its load capac‑
ity also affects its application range. To reduce the power consumption, increase the load to mass ratio, and improve
the stability of robot, the relationship between the walking modes and the forces of feet under the tripod gait are
researched for an electrically driven heavy-duty six-legged robot. Based on the configuration characteristics of electri‑
cally driven heavy-duty six-legged, the typical walking modes of robot are analyzed. The mathematical models of
the normal forces of feet are respectively established under the tripod gait of typical walking modes. According to
the MATLAB software, the variable tendency charts are respectively gained for the normal forces of feet. The walk‑
ing experiments under the typical tripod gaits are implemented for the prototype of electrically driven heavy-duty
six-legged robot. The variable tendencies of maximum normal forces of feet are acquired. The comparison results
show that the theoretical and experimental data are in the same trend. The walking modes which are most available
to realize the average force of distribution of each foot are confirmed. The proposed method of analyzing the rela‑
tionship between the walking modes and the forces of feet can quickly determine the optimal walking mode and
gait parameters under the average distribution of foot force, which is propitious to develop the excellent heavy-duty
multi-legged robots with the lower power consumption, larger load to mass ratio, and higher stability.
Keywords: Electrically driven, Heavy-duty six-legged robot, Tripod gait, Force of foot, Walking mode

1 Introduction lack an extensive degree of research, especially the heavy-

With the development of robotics, the autonomous duty multi-legged robots. The technology parameters
mobile robot has been widely used [1, 2]. Intelligent [3, of the heavy-duty multi-legged robots, such as BigDog
4], high pass [5] and large load-ratio [6] robots have been [9], Ambler [10], ATHLETE [11, 12], and Dante II [13],
gradually regarded as an important developing factor for concludes that the heavy-duty multi-legged robots have
the engineering of mobile robots. Based on the charac- three major characteristics comparing to the non-heavy-
teristics of common moving mechanisms, traditional duty or small multi-legged robots; they are the larger vol-
mobile robots can be roughly divided into wheeled type, ume, bigger mass, and larger load to mass ratio [14].
legged type, and wheel-legged type [7]. In the aspect of In nature, the coordinated movement of legs is used
theoretical research and practical application, the legged for the legged animals to realize their walking from the
robots relatively lag behind the wheeled ones [8], and the current position to goal position. That coordinated
legged robots fall behind the wheeled ones in depth and movement is often called the gait. With the increase of
the number of legs for legged animals and multi-legged
robots, their gait types also increase, and the correspond-
*Correspondence: [email protected] ing gait planning method becomes more complex [15].
2
College of Mechanical Engineering, Tianjin University of Technology The conventional gait of the six-legged robot involves a
and Education, Tianjin 300222, China
Full list of author information is available at the end of the article tripod gait, a tetrapod gait, and a five-legged gait. The

© The Author(s) 2018. This article is distributed under the terms of the Creative Commons Attribution 4.0 International License
(http://creat​iveco​mmons​.org/licen​ses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium,
provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license,
and indicate if changes were made.
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 2 of 15

tripod gait is the fastest and most common for the six- many researchers mainly focus on the gait or force dis-
legged robots and hexapod [16]. tribution for legged robots. There is less research on the
The normal force of the foot is the main component, relationship between the gait and the normal force of
and it is often larger than the tangential force of the foot. foot, especially for heavy-duty multi-legged robots.
From the perspective of posture and balance, the main Based on the above problems and our previous research
factors influencing the poses of the multi-legged robots [25–28], an electrically driven heavy-duty six-legged
are pitch, roll, and vertical fluctuation. The factors are robot is considered to analyze its walking modes and
directly related to the normal force of the foot on every the normal forces of its feet in different walking modes
leg [17]. From the perspective of power consumption for under the tripod gait. This paper is divided into six sec-
the mobile system of robot, the power consumption of tions. In Section 2, the walking modes of the electrically
joint is primarily confirmed by the normal force of foot. driven heavy-duty six-legged robot are analyzed by the
The reason is that the mass and load of robot are coun- configuration of the robot. In Section 3, the static anal-
terpoised by the normal force of foot of each leg. Hence, ysis of robot is performed. In Section 4, the theoretical
it shows that the normal force of foot directly affects the analysis of the normal force of the foot is deduced in the
posture and balance of robot and power consumption of typical walking mode under the tripod gait. In Section 5,
mobile system. However, the normal force of the foot var- the data of normal forces of the foot are collected from
ies when the same leg is under different walking modes the walking experiments of the prototype under the tri-
or gait. The walking mode and gait of robot are inher- pod gait, and the experimental analysis is implemented.
ently associated with the normal force of the foot. Hence, Then, the theoretical analysis and experimental analysis
the relationship between the gait and the normal force of are mutually verified by comparing the theoretical cal-
foot will be important for reducing the power consump- culation results with the experimental data for the nor-
tion of mobile systems and improving the load to mass mal force of the foot under the same variable and same
ratio and stability of heavy-duty multi-legged robots. walking mode of the tripod gait. According to the analy-
Based on the effective poses of robot under the quad- sis of the walking mode and the normal force of the foot,
rangular gait, Zhuang et al. [18] presented a method to the walking mode which is the most favorable to carry
quickly obtain accurate the articulated torque by the out the walk and average force distribution of the foot is
normal force of foot for an electrically driven heavy-duty obtained, and it provides support for future research on
six-legged robot. The proposed method mainly involves power consumption of mobile systems. In the final sec-
the changes of rotational angles of the hip joint and knee tion, the conclusions are presented (Additional file 1).
joint. Li et al. [19] studied the optimal distribution of feet
forces of multi-legged robots with uncertainties in both 2 Configuration and Typical Walking Mode
kinematics and dynamics. The analysis process is rela- of Robot
tively complex because of referring to a large number of 2.1 Configuration of Robot
calculations and multiple algebraic derivations. Jiang In order to facilitate appellation in this paper, the elec-
et al. [20] introduced three new pseudo-inverse formula- trically driven heavy-duty six-legged robot is called by
tions for the real-time control of foot-force distribution the heavy-duty six-legged robot for short. Based on the
of legged robot by avoiding foot-slip, minimizing the structure of ambulacra of the hexapod, the leg of the
joint torques, and minimizing the joint work. The MAT- heavy-duty six-legged robot can be designed. A single
LAB simulation of six-legged robot is only employed to leg contains three electric driving joints: abductor joint,
compare locomotion performance with the truly optimal hip joint, and knee joint. In addition, the axis of abductor
foot-force distributions. Xi and Remy [21] explored the joint follows the direction of z, and the axes of hip joint
potential of trajectory optimization for unspecified con- and knee joint run parallel to the y-axis. The structure of
tact sequences to identify optimal gaits and motions of the single leg of the heavy-duty six-legged robot is shown
legged robots. However, the proposed method was only in Figure 1. The lengths of coxa, thigh, and shin are
evaluated by a 1D hopper and a 2D bipedal robot. Agheli respectively set by lc, lt, and ls. Ai, Hi, and Ki are respec-
et al. [22] presented a solution of foot force distribution tively regarded as the abductor joint, hip joint, and knee
based on Newton–Euler equations of motion. Elfes et al. joint of leg i. βi′ is defined as the angle between the coxa
[23] employed a virtual second order mechanical system of leg i and the thigh of leg i, and its range is form − 90°
to define the foot force in the z direction for the control to 90°. The angle βi, whose range is limited to 0°–150°, is
of a multilegged autonomous explorer (MAX) robot. between the coxa of leg i and the shin of leg i. The posi-
Montes and Armada [24] defined a virtual spring damper tive and negative values of joint angles are correspond-
as the force of foot to evaluate the impedance control- ingly related to the positive and negative of articulated
ler of ROBOCLIMBER robot. Then, it can be found that rotation directions.
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 3 of 15

Abductor joint lc
Leg 1 Leg 6
K1 K6
− x11 x16
0o ∆θ1
H1 y16
∆θ 6
Coxa β i′ + H6
0º line
Thigh A1 A
y11 YB l3 6 y15
Hip joint Leg 2 x2
XB x15 Leg 5
1 l1
A2 OB ∑ A H
lt 0º line K 2 H2 B 5 5 K5 0º line
0o y12 A3 l2 A4 y14
0º line
Knee joint βi ∆θ3 H 3 y13 H 4 ∆θ 4
x13 x14
K3 K4
z ls Leg 3 Leg 4
x Shin Figure 3 Top view of mechanism of six-legged robot
o
y

Figure 1 Structure of single leg of heavy-duty six-legged robot T (i)

and M B = MBx , MBy , MBz . z1 -axis in the abduc-


tor joint coordinate system of leg i is parallel to the

direction of ZB in the body coordinate system. Positive
(i)
To keep the characteristics of universal walking, con- direction of the x1 -axis in the abductor joint coor-
figuration of the heavy-duty six-legged robot is designed dinate system of leg i deviates from the coxa of leg i.
(i) (i)
as a regular polygon. Due to the static gait for the six-leg- The leg i lies on the plan of z1 x1 . The positive  direc-
ged robot, the number of legs in the support phase var- tions of the abductor joint coordinate system Ai of leg
ies from 3 to 6. su and tr are respectively defined as the i and the foot coordinate system fi of leg i are same.


support phase of the legs and transfer phase of the legs The positive directions of the foot’s coordinate system
rotating counterclockwise. The sets of the support phase oi of leg i are parallel to  the positive direction of the


and transfer phase are respectively defined by s = (s1, …, body’s coordinate system B . The force of the leg sk
sk, …, su) and t = (t1, …, te, …, tr). Meanwhile, the con- (s ) (s )
in support phase can be divided into B Fx k , B Fy k , and
straint conditions should meet 3 ≤ u ≤ 6 and u + r = 6. B F (sk ) in the coordinate system
ok , and can be divided

z
The mechanism and its top view of the heavy-duty six- ( fk ) ( fk ) ( fk )
to Fx , Fy , and Fz in the coordinate system fk .

legged robot are respectively shown in Figures 2 and 3.
In Figure The position vector of the foot at the end of the leg sk
 2, the body coordinate system of the robot is (s )
set by B , and is located at the center of the body. The is set by B P F k in the body coordinate system. The body
principal vectors involving the gravity ofthe robot and coordinate system connecting leg i is defined as 0i .

T
principal moment are defined by F B = FBx , FBy , FBz The coordinate system 0i and coordinate system Ai
 

of abductor joint will coincide with each other when

the rotating angle θi of abductor joint is zero degrees
z1( ) Leg 5
5
x1(
5)
for leg i.
z1(
6) FB ( 5) A5 MB z1( )
4
y1 In Figure 3, the 0° line is parallel to the XB axis in the
y1( )
4
x1(
6)
ZB x1( )
4
A6 body coordinate system, and it intersects with the cor-
H6 H5 XB A4 H4
y1(
6) YB responding axes of joints. The included angle Δθi, whose
z1(
3)
Leg 6 OB ∑ B Leg 4
z1( )
1
y1(
3)
K5 ranges is from 0° to 60°, is defined as the initial angle
K6 A1 ( 2) K4
x1( )
1 z1 A3 x1(
3)
of the abductor joint between the 0° line and leg i, and
y1( )
1
o5
o6 A2 y1 ( 2)
H3
o4 the initial angle Δθi is used to set the initial position
H1 B
PF( 1 )
s ( 2)
x1 of abductor joint when the robot begins to walk. θi is
K1 K3
Fz( 1 )
f
Leg 1 H2 Leg 3 defined as the rotation angle of the abductor joint of leg i
∑ o1 Leg 2
B ( s1 )
Fz B
Fx ( s1 )
o3 from the initial angle Δθi. The initial angles Δθ2 and Δθ5
o1 ZG K2
Fy( 1 ) are always zero for leg 2 and leg 5 in this paper. The initial
B s

∑G XG
( f1 ) ( f1 )
Fx Fy angles of abductor joints are 0°–60° for legs 1, 3, 4, and 6,
∑ f1 YG OG o2
and they are same when the heavy-duty six-legged robot
Figure 2 Mechanism of heavy-duty six-legged robot
begins to walk.
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 4 of 15

As shown in Figure 3, Φi isdefined as the angle 3 Static Analysis of Robot

betweenthe coordinate system 0i and the coordinate The spatially parallel closed mechanism is combined by
system B for leg i. Therefore, the values of rotation the legs of the support phase, body of robot, and ground.
angle Φi can be 120°, 180°, 240°, 300°, 360°, and 60° for A passive sphere joint connects the foot and shin, and it
the legs 1, 2, 3, 4, 5, and 6, respectively. Then, the fol- can automatically adapt to the terrain ensuring that the
lowing equation can be obtained: foot completely contacts the ground. Hence, the moment
  does not exist between the ground and the foot, and the
cos Φi − sin Φi 0 force only exists. The force analysis of heavy-duty six-leg-
B (i)
0R = Rot(z, Φi ) =  sin Φi cos Φi 0 , (1) ged robot is shown in Figure 2. In order to simply ana-
0 0 1 (s )
lyze, the force analysis of leg 1 is given in Figure 2. B P F 1
is defined
 as the position vector in the body coordinate
The matrix f R (i) can be deduced from the coordinate
o system B for leg 1 in the support phase. The principal
system Ai of abductor joint to the coordinate system vector of external force in robot system can be expressed


0i for leg i. Then as follows:



−1 (s )  B
Fx 1

f (i) B (i)0 (i)
oR = 0 R AR = (Rot(z, Φi )Rot(z, θi ))T .  B Fy(s1 ) 
(2)
 
  B F (s1 ) 
u 1 0 0 ··· 1 0 0  z 
�
B
 . 
2.2 Typical Walking Mode of Robot F sk = J F B F s =  0 1 0 · · · 0 1 0  .
 .  = F B,

k=1 0 0 1 ··· 0 0 1  (s )
Based on the configuration of heavy-duty six-legged B u

 Fx 
 (s ) 
robot, the tripod gait contains four typical walking  B Fy u 
B F (su )
modes: crab type, ant type, mixture type I, and mixture z
type II, as shown in Figure 4. In the tripod gait of the (3)
heavy-duty six-legged robot, legs 2, 4, and 6 located at
the support phase are defined as the first group, and where J F is Jacobian matrix of force in the robot system,
legs 1, 3, and 5 lying in the transfer phase are defined as an identity matrix of 3u ×3u, B F sk is force vector of foot in
the second group. However, legs of the support phase the coordinate system B or ok for leg sk in the support
are analyzed in this paper.  T
In Figure 4, l1, l2, and l3 are defined as straight lines, phase, B F sk = B Fx(sk ) B Fy(sk ) B Fz(sk ) , B F s is force
and they are respectively orthogonal to the relevant matrix of the foot in the coordinate system B for the leg in

axes of the abductor joints. In order to expediently ana- T
support phase, B F s = B F s1 B F s2 · · · B F sk · · · B F su .

lyze forces of the foot in typical walking modes of the
tripod gait, the initial angles are respectively set by zero The expression can be written using the principal
for legs 1, 2, 3, 4, 5, and 6. Meanwhile, θi is defined as moment of external force in the robot’s system. Then
the rotating angle of the abductor joint between the leg J MBF s = MB, (4)
i and 0° line under an ant-type tripod gait. θi′ is defined
where J M is position matrix in the coordinate system

as the rotating angle of the abductor joint between leg i B
and the 0° line under a crab-type tripod gait. for the leg in support phase,

c d Leg 2
a Leg 1 Leg 6
Leg 1 b Leg 3 Leg 1
θ1′ θ 6′ Leg 6 Moving
Leg 1 θ1 θ6 Leg 6 l1
0º line 0º line YB l3 l3
YB l3 0º line Leg 2 Leg 5 ∑B
Leg 2 l1 Leg 5 0º line YB l3 l1 l2 YB
∑B XB Moving
∑B X θ2 l1 XB
B Leg 2 ∑B X Leg 5 l2
0º line l2 0º line B θ5 Moving
l2 Leg 4 Leg 6
0º line 0º line
Leg 3 θ ′ θ 4′ Leg 4
3
Moving Leg 3 θ 3 θ4 Leg 4 Leg 3 Leg 4 Leg 5

Figure 4 Four kinds of typical tripod gaits of heavy-duty six-legged robot [26] (a crab type; b ant type; c mixture type I; d mixture type II)
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 5 of 15

4 Force Theoretical Analysis of Foot under Gait

of Robot
� �
JM = B P (s1 ) ··· B P (sk ) ··· B P (su ) ,
F F F
(s )
The normal force of the foot is generally much larger than
B P (sk )
 
0 −B PFzk Fy the tangential force. The normal force of the foot is not
B (sk )
PF = B P (sk ) (s )
−B PFxk . only a key factor on influencing the position and balance

0

Fz
(s )
−B PFyk B P (sk ) 0 of the robot as well as power consumption of the mobile
Fx
system, but also a principle balance force to equilibrate
the weight of the robot and its load. Thus, to easily cal-
culate the normal force of the foot using the mechanical
Based on Eqs. (3) and (4), the equilibrium matrix of equilibrium equation, the tangential force of the foot can
generalized force can be obtained for the support phase be ignored in the theoretical mechanical analysis of the
of heavy-duty six-legged robot as follows: foot force under the robot’s gait. The tripod gait is a com-
B  mon gait, and it is also the fastest gait for the six-legged
Fs robot. In this section, the normal force of the foot in the
� B F 1 
support phase is only analyzed under the tripod gait, and
�
I 3×3 I 3×3 · · · I 3×3  s2 
Ĵ B F s = B (s1 ) B (s2 )
P F · · · B P F u  ... 
(s ) 
PF the step pitch and initial angle are changing.

BF (5) For the same leg in the support phase, its normal force
su
� � varies under the same gait and different terrain. It shows
FB
= = Â. that the terrain affects the value of the foot’s normal
MB
force, and it is difficult to reproduce the same relation
where Ĵ is equivalent matrix of the foot position in the between the gait and the normal force of the foot in com-
support phase, I 3×3 is the identity matrix of 3 × 3. plex terrain for the same supporting leg. That is to say,
The force of the foot is zero when the leg is in transfer the values of the normal forces of the foot are difference
phase, and its matrix expression can be written using the when the robot repetitiously traverses the same terrain
body coordinate system B. Then, under the same gait. However, it is difficult to obtain the


real relation between the gait and the normal force of the
T
B
(6) foot. Hence, the flat ground is used to research the rela-
B BF BF BF
Ft = F t1 t2 ··· te ··· tr = 0,
tion above, and it is useful to lay the foundation for ana-
F te is force vector of foot in the coordinate system
where B lyzing that relation on the complex terrain.
or ok for leg te in the transfer phase, The walking speed keeps stable when the heavy-duty

B
 T six-legged robot linearly walks. The distance of the mass
B
F te = B F (te ) B F (te ) B F (te )
x y z . center of body to the ground is a constant. The foot’s pro-
jective tracks for every leg and mass center of the body
are parallel to each other. It is assumed that the robot
Based on Eqs. (5) and (6), the equilibrium matrix of cannot bear the additional principal vector and princi-
general force can be written for the system of heavy-duty pal moment expect for the masses of robot and cargoes.
six-legged robot as follows: Then, the principal vector and principal moment of robot
  B    should meet:
Ĵ O6×3r Fs
BF = Â . (7)  
O3r×3u I 3r×3r t 0 FB  T
M
= 0 0 mL g + mR g 0 0 0 , (9)
B

where O is zero matrix.

Based on Figure 2 and Eq. (2), the mathematical  rela- where mL is the mass of the robot, mR is the mass of cargo
tionship of force of footin the coordinate system ok and carried by the robot.
the coordinate system fk can be written for leg sk in the The tripod gait is used for the heavy-duty six-legged
support phase as follows: robot. Then, the support phase involves legs 2, 4, and 6,
  and the transfer phase involves legs 1, 3, and 5. The nor-
(f )  (s ) 
Fx k B k
mal force of the foot in the support phase is restricted by
 f  f (s )  Fx(s ) 
 F ( k )  = R k  B Fy k . (8) the mass mL of the robot and mass mR of cargo. When
 y  o
( fk ) B F (sk )
Fz z
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 6 of 15

the tangential force of the foot is ignored, the expression

su
can be obtained for the normal force of the foot in the ( B
PF(x 6 ) , B PF(y 6 ) , B PFz 6
s s (s )
) s 2
support phase as follows: Leg 6 o6
Moving +θ 6′ s 2
sd
A1 A6
B T
F s2 0º Line
∆θ 6
� �
 B F s  = 0 0 B Fz(s2 ) 0 0 B Fz(s4 ) 0 0 B Fz(s6 ) . su l3
4 rbp YB −θ 6′
BF s 2 A2 l1 XB
s6
o2 A5
(10) Leg 2
s 2 ∑B
sd
l2
Based on Eq. (5), the equilibrium matrix of general forces ( B
PFx , PFy , B PF(z 2 )
( s2 ) B ( s2 ) s
) 0º Line
A3 A4 ∆θ 4
in the support phase can be deduced for the heavy-duty su
s 2
six-legged robot as follows: Leg 4 o4
� B F s2
  ( B ( s4 )
PFx , PFy , PFz
B ( s4 ) B ( s4 )
) s 2
sd
� � �
I 3×3 I 3×3 I 3×3 FB
Ĵ B F s = B (s2 ) B (s4 ) B (s6 )  B F s4  = . Figure 5 Support phase of heavy-duty six-legged under ant-type
PF PF PF BF MB
s6 tripod gait
(11)
Equations (4), (9), and (10) are respectively substituted
into Eq. (11), and the equilibrium equations of robot can be 
B (s2 )
� ′
�
deduced as follows:  PFx = − rbp + LP2 ,

B P (s4 ) = r cos 60◦ + L′ cos (�θ ),
Fx bp P4 4 (14)
  B (s6 )
B (s2 ) B (s4 ) B (s6 ) PFx = rbp cos 60◦ + L′P6 cos (�θ6 ).

 Fz + Fz + Fz = mL g + mR g,

B P 2 B F 2 + B P 4 ) B F (s4 ) + B P (s6 ) B F (s6 ) = 0,
(s ) (s ) (s
z z z
Fy Fy Fy
 B (s2 ) B (s2 ) B (s4 ) B (s4 ) B (s6 ) B (s6 )
 When the body of the robot walks forward using step
PFx Fz + PFx Fz + PFx Fz = 0. pitch s, the foot in the support phase relatively moves
(12) back distance s. The gravity center of the robot and sup-
When the heavy-duty six-legged robot begins to walk, port points of the legs respectively move from the upper
the initial angles of abductor joints are equal for legs 1, 3, 4, point su to the lower point sd. Then, the coordinates
and 6, and the initial angles of abductor joints of legs 2 and of the feet at the lowest point sd can be respectively
5 are set as the zero degrees. Therefore, the relations of the deduced along the y direction in the body coordinate
initial angles are Δθ1 = Δθ3 = Δθ4 = Δθ6 and Δθ2 = Δθ5 = 0°. system B for legs 2, 4, and 6; they are shown as follows:
L′pi is defined as the projective length of leg i in the support
phase on the ground, and it is the initial offset. To simplify  B (s2 ) �
the analysis, the variables Δθ and L′ps are introduced. Then,  PFy = −s� 2,

B P (s4 ) = − r sin 60◦ + L′ sin (�θ ) − s 2,
� �
the following mathematical relationships can be obtained: Fy bp P4 4
 B (s6 ) �

PFy = rbp sin 60◦ + L′P6 sin (�θ6 ) − s 2.
� �

�θ1 = �θ3 = �θ4 = �θ6 = �θ,
L′P2 = L′P4 = L′P6 = L′PS . (13) (15)
Equations (14) and (15) can be substituted into Eq. (12).
4.1 Theoretical Analysis of Normal Force of Foot The mathematical models of the normal forces of feet can
under Ant‑type Tripod Gait be respectively deduced for the legs 2, 4, and 6. Then
The support phase is shown in Figure 5, and the ant-type
rbp +2L′PS cos (�θ) �

tripod gait is used for the heavy-duty six-legged robot. In B (s2 )
�
 Fz = mL g + mR g ,

Q

3
Figure 5, the robot walks along the direction of YB axis. su B F (s4 ) = Q1 −Q2 m g + m g ,
� �
(16)
z Q3 ×Q4 � L R
and sd are respectively defined as the upper point and lower 
 B F (s6 ) = Q1 +Q2 m g + m g .
 �
z L R
point for the legs in support phase. The distance from su to Q3 ×Q4
sd is defined by s, and it is also the step
 pitch in this paper.
(s ) (s ) (s )
The coordinate of foot is expressed by B PFxk , B PFyk , B PFzk where
 ��√ �
in the body coordinate system B for leg sk.

= rbp + L′PS 3rbp + 2L′PS sin (�θ) ,
�

 Q1
Based on Figure 5, the coordinates of the legs’ feet in the

= 3rbp 2 + L′PS + L′PS cos (�θ) s,
 � � �
Q2
support phase can be obtained along the x direction of the = 3r ′ ′
Q3 √bp + 2LPS ′+ 2LPS cos (�θ),

body coordinate system B as follows:
 

Q4 = 3rbp + 2LPS sin (�θ).

Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 7 of 15

When the feet in the support phase are located at the

1800
upper point su for legs 2, 4, and 6, their
 coordinates along
the y direction in body coordinate B can be obtained by 1600

Fz( s4 ) N
changing the s to − s in Eq. (15), and their normal forces 2000 1400
can be also obtained by setting s to the − s in Eq. (16).

B
1500 1200

Normal force of foot of leg 4

Then, the mathematical models of the normal forces of
1000
the feet are not given for legs 2, 4, and 6 in this paper. 1000

The step pitch s, height of body h, and initial offset L′PS 800
500
are respectively set by 0.4 m, 0.5 m, and 0.68 m for the 600
heavy-duty six-legged robot, when the feet in the support 0
0
0
400
10 0.1
phase move from the upper point su to the lower point Init 20 0.2 m
ial
sd. The ranges of the initial angles of the abductor joints ang 30 h s 200
le 40 0.3 ep pitc
∆θ 50 St
are from 0° to 60° for legs 1, 3, 4, and 6. The radius rbp of ° 60 0.4

the body is introduced in Eq. (16). Then, MATLAB soft- Figure 7 Variable tendency chart of normal force of foot for leg 4
ware is used to compile programs for analyzing the nor- with changes in Δθ and s under ant-type tripod gait
mal forces of feet of the support phase under the ant-type
tripod gait. The variable tendency charts of the normal
forces of feet are obtained and respectively shown in Fig- value is 1858 N when the step pitch s and initial angle Δθ
ures 6, 7, and 8 for legs 2, 4, and 6. are zero, and the minimum value is 45.62 N when the
Based on Figure 6, the normal force of the foot of leg step pitch s is 0.4 m and the initial angle Δθ is 3°.
2 gradually decreases from 1478 N to 1098 N, when the Based on Figure 8, with the initial angle Δθ varying from
initial angle Δθ of abductor joint varies from 0° to 60°. 0° to 60°, it shows that the variable tendency of the normal
The normal force of the foot of leg 2 is a constant with force of the foot overall presents from a decrease to aug-
a change of step pitch s. When the initial angle Δθ of the mentation for the leg 6, when the step pitch s is between
abductor joint is 20°, the normal force of the foot is about 0.2 m to 0.4 m. The normal force of the foot of leg 6 gradu-
1442 N for leg 2. ally increases when the step pitch s is between 0 m to 0.2 m.
Based on Figure 7, with the initial angle Δθ varying It can be found that the normal force of the foot increases
from 0° to 60°, it shows that the variable tendency of the overall for leg 6, when the initial angle Δθ is a fixed value
foot’s normal force overall presents from augmentation to and the range of step pitch s is from 0 m to 0.4 m. For the
a decrease for the leg 4, when the step pitch s is between foot’s normal force of leg 6, its maximum value is 1858 N
0 m to 0.2 m. In addition, the normal force of the foot of when the step pitch s and initial angle Δθ are zero, its mini-
leg 4 gradually increases when the step pitch s is between mum value is 45.62 N when the step pitch s is 0 m and the
0.2 m to 0.4 m. It also shows that the normal force of the initial angle Δθ is 3°, and its value is 1098 N when the step
foot overall decreases for leg 4, when the initial angle Δθ pitch s is 0.2 m and the initial angle Δθ is 60°.
is a fixed value and the range of step pitch s is from 0 m to According to Figures 6, 7, and 8, the curves of the max-
0.4 m. For the foot’s normal force of leg 4, the maximum imum normal forces of feet are obtained for legs 2, 4, and
6 with the varying of the initial angle Δθ and step pitch

1800
1450
Fz( s2 ) N

1500 1600
Fz( s6 ) N

1400
1400
B

1400 2000
1350
B
Normal force of foot of leg 2

1300 1500 1200

Normal force of foot of leg 6

1300 1000
1200 1000
1250 800
1100 500
1200 600
1000
0 0 0.4
10 60 400
Init 20 0 1150 50 0.3
ial 0.1 Initi 40 30
ang 30 al a
0.2 sm 200
le 40 0.2 h
s m ngle 20 itc
∆θ 50 0.3 pitch 1100 0.1 pp
° 60 0.4 Step
∆θ
° 10 S te
0 0
Figure 6 Variable tendency chart of normal force of foot for leg 2 Figure 8 Variable tendency chart of normal force of foot for leg 6
with changes in Δθ and s under ant-type tripod gait with changes in Δθ and s under ant-type tripod gait
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 8 of 15

1450 1250

Fz(i ) N
Fz( ) N

Fz( )
B 2

1400 B ( 4)
Fz
i

1200

B
B ( 6)
B

1350 Fz

Maximum normal forces of feet

Maximum normal forces of feet

1300 1150
1250
1100
1200
Fz( )
B 2
1150
1050 Fz( )
B 4

B ( 6)
1100 Fz

1050 1000
20 30 40 50 60 0.10 0.15 0.20 0.25 0.30 0.35 0.40
Initial angle of abductor joint /º Step pitch s/m

Figure 9 Curves of maximum normal forces of feet under s = 0.4 m, Figure 11 Curves of maximum normal forces of feet under
20° ≤ Δθ ≤ 60°, and ant-type tripod gait 0.1 m ≤ s ≤ 0.4 m, Δθ = 60°, ant-type tripod gait

Based on Figure 10, when the step pitch s varies from

1600 B
Fz( 2) 0.1 m to 0.4 m and the initial angle Δθ is 20°, it shows
Fz(i ) N

B ( 4)
Fz
1500 B ( 6)
that the maximum normal force of the foot is a con-
Fz
stant for the leg 2, and the maximum normal forces of
B
Maximum normal forces of feet

1400 feet gradually decreases for the legs 4 and 6.

According to Figure 11, when the step pitch s changes
1300 from 0.1 m to 0.4 m and the initial angle Δθ is 60°, it
can be found that the maximum normal force of the
1200
foot remains constant for the leg 2, the maximum nor-
1100
mal force of the foot first decreases, then increases, and
finally decreases for leg 4, and the maximum normal
1000 force of the foot of leg 6 varies from augmentation to a
0.10 0.15 0.20 0.25 0.30 0.35 0.40
Step pitch s/m decrease.
Figure 10 Curves of maximum normal forces of feet under
0.1 m ≤ s ≤ 0.4 m, Δθ = 20°, and ant-type tripod gait
4.2 Theoretical Analysis of Normal Force of Foot
under Crab‑type Tripod Gait
The robot in support phase is shown in Figure 12, when
s. When s = 0.4 m and 20° ≤ Δθ ≤ 60°, the curves of the the crab-type tripod gait is employed for the heavy-duty
maximum normal forces of feet are shown in Figure 9. six-legged robot. As shown in Figure 12, the robot walks
When 0.1 m ≤ s ≤ 0.4 m and Δθ = 20°, the curves of the along the XB axis in the body coordinate system.
maximum normal forces of feet are shown in Figure 10. Based on Figure 12, the feet’s coordinates in the sup-
When 0.1 m ≤ s ≤ 0.4 m and Δθ = 60°, the curves of the port phase can be obtained along the y direction of the
maximum normal forces of feet are shown in Figure 11. body coordinate system B. Then
According to Figure 9, when the step pitch s is 0.3 m  B (s2 )
and the initial angle Δθ varies from 20° to 60°, it can be  PFy = 0, �

B P (s4 ) = − r sin 60◦ + L′ sin (�θ ) ,
found that the maximum normal force of the foot of leg
�
Fy bp P4 4 (17)
2 gradually reduces, and the maximum normal forces of  B (s6 ) �

◦ ′
�
PFy = rbp sin 60 + LP6 sin (�θ6 ) .
feet are from augmentation to a decrease for the legs 4
and 6.
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 9 of 15

(
PF(x 6 ) , B PF(y 6 ) , B PFz 6
B s s (s )
) 1800

s 2 s 2 2000

Fz( s2 ) N
sd o6 1600
Leg 6 su 1800
+θ 6′

B
1600

Normal force of foot of leg 2

1400
A1 A6 ∆θ 6 1400
0º Line
( B ( s2 )
PFx , B PF(y 2 ) , B PF(z 2 )
s s
) rbp YB ∑ B
l3 −θ 6′ 1200 1200
o2 A2 l1 XB 1000
sd A5
su Leg 2
Moving 800 1000
s 2 s 2
l2 600
0º Line 0 0
A3 A4 ∆θ 4 10 0.1 800
Initia 20 30 0.2
l angle 40 0.3 s m
∆θ ° 50 it ch
Leg 4 o4 60 0.4 Step p
sd su
s 2 s 2
Figure 13 Variable tendency chart of normal force of foot for leg 2
with changes in Δθ and s under crab-type tripod gait
( B
PF(x 4 ) , B PF(y 4 ) , B PF(z 4 )
s s s
)
Figure 12 Support phase of heavy-duty six-legged under crab-type
tripod gait
force of the foot of leg 4 is equal to the normal force of
the foot of leg 6 under the crab-type tripod gait.
The step pitch s, height h of the body, and initial offset
When the body of the robot walks forward with a step L′PS are respectively set by 0.4 m, 0.5 m, and 0.68 m for
pitch s, the foot of the leg in support phase relatively the heavy-duty six-legged robot, when the feet in support
moves back a distance s. That is to say, the support points phase move from the upper point su to the lower point
of the legs respectively move from the upper point su to sd. The ranges of the initial angles of abductor joints are
the lower point sd. Then, the coordinates of the feet at the from 0° to 60° for legs 1, 3, 4, and 6. The radius rbp of body
lower point sd can be respectively obtained is introduced into Eq. (19). Then, the MATLAB software
 along the x
direction in the body coordinate system B for legs 2, 4, is employed to analyze the normal forces of the feet in
and 6; they are shown as follows: the support phase under the ant-type tripod gait. The
variable tendency charts of the normal forces of the feet
are obtained and respectively shown in Figures 13 and 14

B (s2 )
� ′
� s
 PFx = − rbp + LP2 − 2 ,

B P (s4 ) = r cos 60◦ + L′ cos (�θ ) − s ,
(18) for legs 2, 4, and 6.
Fx bp P4 4 2
 B (s6 )
 ◦ ′ s Based on Figures 13 and 14, the curves of the maximum
PFx = rbp cos 60 + LP6 cos (�θ6 ) − 2 .
normal forces of feet are respectively obtained for legs 2,
4, and 6 with the initial angle Δθ and step pitch s vary-
Equations (17) and (18) can be substituted into Eq. (12), ing. When s = 0.2 m and 0° ≤ Δθ ≤ 60°, the curves of the
and the mathematical models of the normal forces of the maximum normal forces of feet are shown in Figure 15.
feet can be respectively deduced for legs 2, 4, and 6. Then When 0.05 m ≤ s ≤ 0.2 m and Δθ = 0°, the curves of the
maximum normal forces of feet are shown in Figure 16.
′
� �
B F (s2 ) = rbp +2LPS cos (�θ )−s (mL g+mR g ) , When 0.1 m ≤ s ≤ 0.4 m and Δθ = 60°, the curves of the

 z ′ ′
3rbp +2LPS�+2LPS cos (�θ)
maximum normal forces of feet are shown in Figure 17.


′
 �
B F (s4 ) = rbp +LPS +s/ 2 (mL g+mR g ) ,
z ′ +2L′ cos (�θ) (19) Based on Figure 13, it shows that the normal force of
� 3rbp +2L PS � PS
the foot decreases for leg 2, when the step pitch s is a

rbp +L′PS +s/ 2 (mL g+mR g )

 B (s6 )
 Fz = 3r +2L′ +2L′ cos (�θ) .
bp PS PS fixed value and the range of initial angle Δθ is from 0° to
60°, or when the initial angle Δθ is a fixed value and the
range of step pitch s is from 0 m to 0.4 m. The foot’s maxi-
When the feet in support phase for legs 2, 4, and 6 are mum normal force of leg 2 is 1814 N, when the step pitch
located at the upper point su,, their coordinates along the s and the initial angle Δθ are 0 m and 0°, respectively. The
x direction in the body coordinate B can be obtained foot’s minimum normal force of leg 2 is 691.1 N, when

with changing s to − s in Eq. (18), and their normal forces the step pitch s is 0.4 m and the initial angle Δθ is 60°.
of the feet can be also obtained by setting s to − s in Eq. The foot’s normal force for leg 2 is 1098 N, when the step
(19). In addition, the mathematical models of the normal pitch s is 0 m and the initial angle Δθ is 60°.
forces of the feet are not given for legs 2, 4, and 6 in this Based on Figure 14, it shows that the normal forces of
paper. Based on Eq. (19), it can be found that the normal legs 4 and 6 increase, when the step pitch s is a fixed value
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 10 of 15

1300 1700
Fz( s4/6 ) N

Fz( ) N
1600

i
1400 1200
B

B
1500
Normal forces of feet of legs 4 and 6

Maximum normal forces of feet

1200
1100 1400
Fz( )
B 2

1000
Fz( )
B 4
1300
1000 B ( 6)
Fz
800
1200
600 900
60 1100
50 0.4
Init 40 1000
ial 0.3 800
ang 30
le 20 0.2 m
∆θ 0.1 h s
10 pitc 900
° 0 0 Step 0.05 0.075 0.10 0.125 0.15 0.175 0.20
Step pitch s/m
Figure 14 Variable tendency charts of normal forces of feet for legs 4
and 6 with changes in Δθ and s under crab-type tripod gait Figure 16 Curves of maximum normal forces of feet under
0.05 m ≤ s ≤ 0.2 m, Δθ = 0°, crab-type tripod gait

1600 for legs 2, 4, and 6. And the curves of the maximum nor-
Fz( ) N

Fz( )
2
B
mal forces of the feet are the same for leg 4 and leg 6.
1500 B ( 4)
i

Fz Based on Figure 17, when the initial angle Δθ is 60° and

B

B ( 6)
Fz
1400 the step pitch s varies from 0.1 m to 0.4 m, it can be con-
Maximum normal forces of feet

cluded that the variable tendency of the maximum nor-

1300
mal force of the foot augments then decreases for leg 2.
1200 And the maximum normal forces of the feet are equal
and gradually increase with the change of the step pitch
1100 for leg 4 and leg 6.
1000
5 Force Experimental Analysis of Foot
900
0 10 20 30 40 50 60 under Robotic Gait
Initial angle of abductor joint /º Based on the previous achievements in the scientific
Figure 15 Curves of maximum normal forces of feet under s = 0.2 m, research, the prototype of electrically driven heavy-duty
0° ≤ Δθ ≤ 60°, and crab-type tripod gait
six-legged robot was developed. Its load to mass ratio is
more than 0.46. The walking experiments of prototype
are implemented under four kinds of typical tripod gaits
and the range of initial angle Δθ is from 0° to 60°, or when on a flat ground. In addition, the walking experiments
the initial angle Δθ is a fixed value and the range of step of the mixture-type II walking mode are shown in Fig-
pitch s is from 0 m to 0.4 m. The minimum normal forces ure 18. The force experimental analysis of the foot is not
of feet are 739.2 N for leg 4 and leg 6, when the step pitch
s and initial angle Δθ are 0 m and 0°, respectively. The 1280 B
Fz( 2)
Fz(i ) N

maximum normal forces of feet are 1301 N, when the 1260 B

Fz( )
4

step pitch s is 0.4 m and the initial angle Δθ is 60°. The B ( 6)

Fz
B

1240
normal forces of feet are 1098 N for leg 4 and leg 6, when
Maximum normal forces of feet

1220
the step pitch s is 0 m and the initial angle Δθ is 60°.
Based on Figure 15, when the step pitch s is 0.2 m and 1200

the initial angle Δθ varies from 0° to 60°, it shows that the 1180
maximum normal force of the foot gradually decreases 1160
for leg 2, and gradually increases for leg 4 and leg 6, 1140
respectively. The maximum normal forces of the feet are
1120
equal to each other for legs 2, 4, and 6, when the initial
1100
angle Δθ is 60°. 0.10 0.15 0.20 0.25 0.30 0.35 0.40
According to Figure 16, when the initial angle Δθ is 0° Step pitch s/m

and the step pitch s varies from 0.05 m to 0.2 m, it shows Figure 17 Curves of maximum normal forces of feet under
0.1 m ≤ s ≤ 0.4 m, Δθ = 60°, crab-type tripod gait
that the maximum normal forces of feet gradually increase
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 11 of 15

1500

Fz( ) N
Fz( ) Fz( )
B 1 B 4

i
1400
B
Fz( 2) B
Fz(5)

B
B ( 3) B ( 6)
Fz Fz

Maximum normal force of foot

1300

1200

1100

1000
Figure 18 Walking experiments of mixture-type II walking mode 20 25 30 35 40 45 50 55 60
Initial angle of abductor joint i/º

Figure 19 Variable tendencies of maximum normal forces of feet

with change in initial angle under ant-type tripod gait
only able to verify the correctness of the force theoreti-
cal analysis, but is also helpful to further analyze the rela-
tions between the gait and the normal force of feet.
initial angle is 60°, the minimum difference exists among
Three walking periods are respectively set for the heavy-
the maximum normal forces of the feet. Based on Fig-
duty six-legged robot in walking experiments of the tripod
ures 9 and 19, it is concluded that the variable tendencies
gait. The six-dimension force/torque sensors are employed
of the feet’s maximum normal forces are respectively cor-
to collect the normal forces of the feet for all six legs in real
responding to the same for legs 2, 4, and 6, when the step
time, and the maximum normal forces of the feet are col-
pitch is 0.3 m and the initial angle varies from 20° to 60°.
lected for every leg. The curves of the maximum normal
forces of the feet for the six legs are respectively obtained
5.1.2 Changing Step Pitch
with the change in the step pitch and initial angle of the
Without losing the generality, the initial angles are set
abductor joint. While the experimental and theoretical
by 20° for legs 1, 3, 4, and 6, and set by 0° for leg 2 and
results of the variable tendencies of the maximum normal
leg 5, when the heavy-duty six-legged robot walks along
forces are the same, it can be concluded that the experi-
the YB direction in the body coordinate system under the
mental data is correct, and the theoretical analysis is rea-
ant-type tripod gait. In addition, the body height h keeps
sonable. When the four kinds of typical tripod gaits are
0.5 m, and the step pitch s varies from 0.1 m to 0.4 m. The
used for the walking experiments, the initial offset L′pi is (i)
variable tendency of the maximum normal force B Fz of
set by 0.68 m, and the mass mR of cargo is set by 0 kg.
the foot of leg i can be obtained with the change in the
step pitch, as shown in Figure 20.
5.1 Force Experimental Analysis of Foot under Ant‑type
Tripod Gait
5.1.1 Changing Initial Angle 1500
When the heavy-duty six-legged robot walks along the YB
Fz( ) N

direction in the body coordinate system under the ant-

i

1400
Fz(1) Fz( 4)
B

type tripod gait, the initial angles of abductor joints vary B B

Maximum normal force of foot

Fz( ) Fz( )
B 2 B 5
from 20° to 60° for legs 1, 3, 4, and 6, and the initial angles
B ( 3) B ( 6)
are 0° for leg 2 and leg 5. In addition, the body height h 1300 Fz Fz
and step pitch s are 0.5 m and 0.3 m, respectively. The
variable tendency of the maximum normal force B Fz(i) of 1200
the foot of leg i can be obtained with the change in the
initial angle, as shown in Figure 19. 1100
Figure 19 shows that the maximum normal forces for
the feet of leg 2 and leg 5 gradually decrease with the
1000
change in the initial angle, and their variable tendencies 0.10 0.15 0.20 0.25 0.30 0.35 0.40
are equal. When the initial angle is 20°, the maximum Step pitch s/m
normal forces of the feet for leg 2 and leg 5 are larger than Figure 20 Variable tendencies of maximum normal forces of feet
with change in step pitch under ant-type tripod gait
the other maximum normal forces of the feet. When the
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 12 of 15

Based on Figure 20, with the step pitch varying from of the feet are respectively corresponding to the same for
0.1 m to 0.4 m, it is concluded that the curves of the max- legs 2, 4, and 6, when the step pitch is 0.2 m and the ini-
imum normal forces of feet keep stable for leg 2 and leg 5, tial angle varies from 0° to 60°.
and they are over other curves. According to Figure 20, it
can be found that the force distribution is easier to real- 5.2.2 Changing Step Pitch
ize when the step pitch has a larger value. Based on Fig- Without losing the generality, the initial angles are set by
ures 10 and 20, it can also be concluded that the variable 0° for legs 1, 2, 3, 4, 5, and 6, when the heavy-duty six-
tendencies of the maximum normal forces of the feet are legged robot walks with the ant-type tripod gait along
respectively corresponding to the same for legs 2, 4, and the XB direction in the body coordinate system. In addi-
6, when the initial angle is 20° and the step pitch varies tion, the body height h keeps 0.5 m, and the step pitch s
from 0.1 m to 0.4 m. is between 0.05 m and 0.2 m. The variable tendency of
(i)
the maximum normal force B Fz of the foot of leg i can
be obtained with the change in the step pitch, as shown
5.2 Force Experimental Analysis of Foot under Crab‑type in Figure 22.
Tripod Gait Based on Figure 22, with the step pitch varying from
5.2.1 Changing Initial Angle 0.05 m to 0.2 m, it can be concluded that the curves of
When the heavy-duty six-legged robot walks along the the maximum normal forces of the feet are mostly uni-
XB direction in the body coordinate system under the form for leg 2 and leg 5, for leg 3 and leg 4, and for leg 2
crab-type tripod gait, the initial angles of the abduc- and leg 5, respectively. Meanwhile, the maximum normal
tor joints vary from 0° to 60° for legs 1, 3, 4, and 6, and forces of leg 2 and leg 5 are greater than other legs’ maxi-
the initial angles are 0° for leg 2 and leg 5. In addition, mum normal forces. Figure 22 shows that the maximum
the body height h and step pitch s keep 0.5 m and 0.2 m, normal forces of the feet gradually increase with the step
respectively. The variable tendency of the maximum nor- pitch varying for legs 1, 2, 3, 4, and 6. Based on Figures 16
(i)
mal force B Fz of the foot of leg i can be obtained with and 22, it can be concluded that the variable tendencies
the change in the initial angle, as shown in Figure 21. of maximum normal forces of the feet are respectively
Based on Figure 21, it shows that the curves of the max- corresponding to the same for legs 2, 4, and 6, when the
imum normal forces of the feet present a gradually down- initial angle is 0° and the step pitch varies from 0.05 m to
ward trend for leg 2 and leg 5, and gradually rising trends 0.2 m.
for the other legs, with the initial angle varying from 0°
to 60°. When the initial angle is in between 0° and 50°, 5.3 Force Experimental Analysis of Foot
the maximum normal forces of the feet of leg 2 and leg 5 under Mixture‑type I Tripod Gait
are greater than the maximum normal forces of the feet When the heavy-duty six-legged robot walks using the
of other legs. The maximum normal forces of the feet are mixture-type I tripod gait along the XB direction in the
approximately equal to each other, when the initial angle body coordinate system, the initial angles are all 60° for
is 60°. Based on Figures 15 and 21, it can be found that
the variable tendencies of the maximum normal forces

1600
1600
Fz( ) N

B (1) B ( 4)
Fz Fz
Fz(i ) N

1500
i

1500
B
Fz( 2) B
Fz( )
5
B

B ( 3) B ( 6)
Fz Fz 1400
B

Maximum normal force of foot

1400
Maximum normal force of foot

1300 B
Fz(1) B
Fz( 4)
1300 B
Fz( 2) B
Fz(5)
1200
B ( 3) B ( 6)
Fz Fz
1200
1100
1100 1000
1000 900

900 800
0 10 20 30 40 50 60 0.05 0.075 0.10 0.125 0.15 0.175 0.20
Initial angle of abductor joint i/º Step pitch s/m
Figure 21 Variable tendencies of maximum normal forces of feet Figure 22 Variable tendencies of maximum normal forces of feet
with change in initial angle under crab-type tripod gait with change in step pitch under crab-type tripod gait
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 13 of 15

1280 1260
Fz( ) Fz( 4) Fz(1) Fz( 4)
1

Fz(i ) N
Fz( ) N

B B B B
1260 B ( 2) B ( 5)
Fz Fz B
Fz( 2) B
Fz(5)
i

B ( 3)
1230
B ( 6) B ( 3) B ( 6)
1240 Fz Fz

B
Fz Fz
B

Maximum normal force of foot

Maximum normal force of foot

1220 1200

1200
1170
1180
1160 1140

1140
1110
1120
1100 1080
0.10 0.15 0.20 0.25 0.30 0.35 0.40 0.10 0.15 0.20 0.25 0.30 0.35 0.40
Step pitch s/m Step pitch s/m
Figure 23 Variable tendencies of maximum normal forces of feet Figure 24 Variable tendencies of maximum normal forces of feet
with change in step pitch under mixture-type I tripod gait with change in step pitch under mixture-type II tripod gait

legs 1, 3, 4, and 6, and initial angles are all 0° for leg 2 and same for legs 2, 4, and 6, when the initial angle is 60° and
leg 5. In addition, the body height h keeps 0.5 m, and the the step pitch ranges between 0.1 m to 0.4 m.
step pitch s ranges between 0.1 m and 0.4 m. The variable
(i)
tendency of the maximum normal force B Fz of the foot 5.5 Amplitude Interval Analysis of Normal Force of Foot
of leg i can be obtained with the change in the step pitch, under Gait of Robot
as shown in Figure 23. Based on the analysis above, it can be obtained that the
Based on Figure 23, it can be concluded that the devia- results of theoretical and experimental data keep consist-
tions of maximum normal forces of the feet become ent in the aspect of the maximum normal force of the
larger with the step pitch increasing from 0.1 m to 0.4 m. foot. Hence, it can be concluded that the reasonableness
According to Figures 17 and 23, it can be found that the and correctness can be respectively obtained for the force
variable tendencies of maximum normal forces of the feet theoretical analysis of the foot and experimental data
correspond uniformly for legs 2, 4, and 6, respectively, under four kinds of typical tripod gaits of heavy-duty six-
when the initial angle is 60° and the step pitch ranges legged robots.
between 0.1 m to 0.4 m. To further analyze the characteristics of normal forces
of the feet, the range of maximum normal force of the
5.4 Force Experimental Analysis of Foot foot is defined, it is a difference between the maximum
under Mixture‑type II Tripod Gait value and the minimum value in the figure, and its sym-
When the heavy-duty six-legged robot walks using the bol is set as RF. Based on Figures 19, 20, 21, 22, 23, and
mixture-type II tripod gait along the YB direction in body 24, the ranges of maximum normal forces of the feet are
coordinate system, the initial angles are all 60° for legs 1, respectively obtained under four kinds of typical tripod
3, 4, and 6, and initial angles are all 0° for leg 2 and leg 5. gaits, as shown in Table 1. Which the range of maximum
In addition, the body height h keeps 0.5 m, and the step normal force of the foot is the least among the walking
pitch s ranges between 0.1 m and 0.4 m. The variable ten- modes, it can be found that the force distribution is the
(i)
dency of the maximum normal force B Fz of foot of leg most easily achieved under that walking mode.
i can be obtained with the change in the step pitch, as Based on Table 1, it is concluded that the mixture-
shown in Figure 24. type I has the least range of maximum normal force of
Based on Figure 24, with the step pitch ranging from the foot. In the aspect of force distribution, it can be
0.1 m to 0.4 m, it can be concluded that the curve of the obtained that the ant-type tripod gait is better than the
maximum normal force of the foot approximately keeps crab-type tripod gait, and the mixture-type I tripod gait
stable for leg 2. The variable tendency of the maximum is better than the mixture-type II tripod gait. Therefore,
normal force of foot presents from decrease to augmen- the hexapod mostly chooses the ant-type walking mode
tation for leg 4; the variable tendency shows adverse to rather than the crab-type walking mode.
leg 6’s. According to Figures 11 and 24, it can be found According to Figure 4, it can be found that the walk-
that the variable tendencies of the maximum normal ing speed of the heavy-duty six-legged robot depends
forces of the feet are respectively corresponding to the on the hip joints and knee joints of leg 2 and leg 5, not
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 14 of 15

Table 1 Ranges of maximum normal forces of feet (3) The optimal walking mode, the mixture-type II walk-
under four kinds of typical tripod gaits ing mode, is confirmed, and it is firstly recommended
Walking modes Ranges of maximum normal forces for the electrically driven heavy-duty six-legged robot
of feet RF/N in view of its excellent characteristics in walking
Change in initial angle Change
speed, stability, force distribution, and load to mass
in step ratio.
pitch

Ant type 370 432

Crab type 614.5 638.4
Additional file
Mixture type I – 141
Mixture type II – 157
Additional file 1: Brief introduction of the article.

Authors’ Contributions
on their abductor joints. When the actuating devices ZL and H-CZ was in charge of the whole trial; H-CZ wrote the manuscript;
are confirmed and need to provide large torque, the hip H-CZ, H-BG, Z-QD, and LD assisted with sampling and laboratory analyses. All
joints and knee joints of leg 2 and leg 5 limits the walking authors read and approved the final manuscript.
speed of the robot. Hence, the mixture-type II walking Author details
mode is better than the mixture-type I walking mode in 1
State Key Laboratory of Robotics and System, Harbin Institute of Technology,
the aspect of walking speed. Harbin 150080, China. 2 College of Mechanical Engineering, Tianjin University
of Technology and Education, Tianjin 300222, China.
Based on the analysis above, it can be concluded that
the mixture-type I and mixture-type II walking modes Authors’ Information
are better than the ant type and crab type in the aspect Zhen Liu, born in 1983, is currently a lecturer at State Key Laboratory of Robotics
and System, Harbin Institute of Technology, China. He received his PhD degree
of the force distribution and stability. Furthermore, it from Harbin Institute of Technology, China, in 2013. His research interests
can be obtained that the mixture-type II walking mode include planetary rover technology and aerospace mechanisms and control.
is the best and should be preferentially employed for the Hong-Chao Zhuang, born in 1982, is currently a lecturer at College of
Mechanical Engineering, Tianjin University of Technology and Education, China.
heavy-duty six-legged robot with the consideration of He received his PhD degree from Harbin Institute of Technology, China, in 2015.
walking speed. Actually, the reasonable walking mode His research interests include special robot systems and intelligent robotics.
can be used based on the practical requirements of the Hai-Bo Gao, born in 1970, is currently a professor and a supervisor for PhD
candidates at State Key Laboratory of Robotics and System, Harbin Institute of
heavy-duty six-legged robot, and it can be concluded that Technology, China. He received his PhD degree from Harbin Institute of Technol-
the maximum walking speed of robot is easily achieved ogy, China, in 2004. His research interests include special robot systems and
by the ant-type walking mode. The limited space can be aerospace mechanisms and control.
Zong-Quan Deng, born in 1956, is currently a professor and a supervisor
traversed using the crab-type walking mode. The force for PhD candidates at Harbin Institute of Technology, China. He received his
distribution and stability can be easily realized using the master’s degree from Harbin Institute of Technology, China, in 1984. His research
mixture-type I walking mode and mixture-type II walk- interests include planetary rover technology and aerospace mechanisms and
control.
ing mode. Liang Ding, born in 1980, is currently a professor and a supervisor for PhD
candidates at State Key Laboratory of Robotics and System, Harbin Institute of
Technology, China. He received his PhD degree from Harbin Institute of Technol-
6 Conclusions ogy, China, in 2009. His research interests include planetary rover technology
and aerospace mechanisms and control.
(1) Four kinds of typical walking modes are obtained
based on the configuration of root. The variable ten-
dency charts of normal forces of the feet are described Competing Interests
The authors declare no competing financial interests.
with the changes in the initial angle and step pitch by
performing the theoretical analysis of static foot force. Funding
(2) According to the walking experiments of robot proto- Supported by National Natural Science Foundation of China (Grant Nos.
51505335, 51275106), and National Basic Research Program of China (973
type under four kinds of typical tripod gaits, the vari- Program, Grant No. 2013CB035502).
able tendencies of the maximum normal forces of feet
are respectively obtained with the changes in the ini- Publisher’s Note
tial angle and step pitch. The comparison results show Springer Nature remains neutral with regard to jurisdictional claims in pub‑
that the theoretical and experimental data are in the lished maps and institutional affiliations.

same trend under the same variable and same walking Received: 1 August 2016 Accepted: 2 August 2018
mode of the tripod gait.
Liu et al. Chin. J. Mech. Eng. (2018) 31:63 Page 15 of 15

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