Study of Gait Patterns for an Hexapod Robot in Search and Rescue Tasks

Jorge De León, Mario Garzón, David Garzón-Ramos, Antonio Barrientos

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)


This paper presents a study about gait patterns for hexapod robots with extremities called C-legs. The study analyses several modes of gait that different animals use to move through the terrestrial environment, and another new ones that arise when looking at the limitations that present the existing ones. The whole study is reinforced with a series of simulations carried out, where the obtained results are analysed to select the best gait pattern for a specific situation.

Original languageEnglish
Title of host publicationROBOT 2017
Subtitle of host publication3rd Iberian Robotics Conference
EditorsLuis Montano, Nuno Lau, Alberto Sanfeliu, Anibal Ollero, Carlos Cardeira
Number of pages12
ISBN (Print)9783319708355
Publication statusPublished - 2018
Externally publishedYes
Event3rd Iberian Robotics Conference, ROBOT 2017 - Seville, Spain
Duration: 22 Nov 201724 Nov 2017

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Print)2194-5357


Conference3rd Iberian Robotics Conference, ROBOT 2017


  • C-legs
  • Gait patterns
  • Hexapod robots
  • USAR

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