Abstract: A traditional motion planning method based on gaits is difficult to adopt to complicate nature terrain. In order to solve the problem, a planning algorithm based on overall trajectory was proposed. The basic unit of robot maneuver was a walking step. The proposed method was to estimate position of robot in the next moment along a given overall trajectory, and then to plan the joints’ trajectory of robot. In this algorithm, the motion of a single step was decomposed into two parts, the motion of moving robot body with support of legs and the motion of swinging legs forward, which performed in same time. A parametric parabola was used to describe the trajectory of the motions to avoid the problem that trajectories depended on a reference coordinate system in traditional method. It is convenient to realize online trajectory planning. A detail motion planning algorithm was discussed and proved by a simulation.

Key words: 6-legged robot, motion planning, kinematics, simulation