Carlos Gruber wrote:

> Where can I look for information about robotics?.

Try the comp.robotics.misc newgroup.

> I need algorithms for control a 6 legs robot.

Here is my little contribution.

You should think of a hexapod's legs as two sets of tripods.  Bad ASCII art
to follow:

           HEAD

        A  o^o  B
         \ ( ) /
       B --( )-- A
         / ( ) \
        A   |    B

           TAIL

When walking, the hexapod raises one set of legs (either A or B above) and
then stands on the other three.  This is a very stable arrangement as it is
always standing on a tripod.  Walking forward would be:

1)  Raise 'A'
2)  Move 'A' towards the head & move 'B' towards the tail
3)  Lower 'A'
4)  Raise 'B'
5)  Move 'A' towards the tail & move 'B' towards the head
6)  Lower 'B'
7)  Goto 1

Of course, walking backwards is the reverse order, yes?

Turning is a little more complicated and requires a more complicated diagram:

            HEAD

        A1  o^o  B1
          \ ( ) /
       B2 --( )-- A2
          / ( ) \
        A3   |   B3

            TAIL

To turn left on its axis would be:

1)  Raise 'A'  (all legs of A)
2)  Move A1 and A3 towards the tail, & A2 towards the head
    also move B1 and B3 towards the tail, & B2 towards the head
3)  Lower 'A'
4)  Raise 'B'  (all legs of B)
5)  Move A1 and A3 towards the head, & A2 towards the tail
    also move B1 and B3 towards the head, & B2 towards the tail
6)  Lower 'B'
7)  Goto 1

This works best when the legs don't have too great a degree of freedom, as
the tripod is deformed during each step and the thing can fall over!

Not much.  Perhaps a start...

Michael

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