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Title: Leg placement algorithm for foot impact force minimization
Authors: Luneckas, Mindaugas
Luneckas, Tomas
Udris, Dainius
Keywords: leg placement
Hexapod robot
piezoelectric sensor
impact force
leg speed minimization
Issue Date: 2018
Publisher: SAGE publications
Citation: Luneckas, M., Luneckas, T., Udris, D. Leg placement algorithm for foot impact force minimization. Int J Adv Robot Syst 2018; 15(1): 1–10
Series/Report no.: 15;1
Abstract: Walking is considered to be a rather complicated task for autonomous robots. Sustaining dynamic stability, adopting different gaits, and calculating correct foot placement are a necessity to overcome irregular terrain, various environments and completing a range of assignments. Besides that, certain assignments require that robots have to walk on fragile surfaces without damaging it. Furthermore, under some other circumstances, if walking is careless, robots could suffer damage caused by the impact of the terrain. Foot placement, leg motion speed must be controlled to avoid braking surface or even sensors on robot’s feet. In this article, a simple leg placement algorithm is proposed that controls hexapod robot’s leg speed. Thus, force dependence on leg motion speed and step height has been measured by using a piezoelectric sensor. Then, by using leg placement algorithm, we show that the reduction of the impact force between robot’s foot and surface is possible. Using this algorithm, robot feet’s impact force with the surface can be minimized to almost 0 N.
Description: This article is distributed under the terms of the Creative Commons Attribution 4.0 License ( which permits any use, reproduction and distribution of the work without further permission provided the original work is attributed as specified on the SAGE and Open Access pages (
ISSN: 1729-8814
Appears in Collections:Moksliniai straipsniai / Research articles

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