Considered the body misplaced problem caused by the rolling effect of semi-round rigid feet during hexapod robots walking period, a gait correction algorithm was established. The main benefits of the large radius semi-round structure were proposed, while the rolling effect during the supporting phase was illustrated. The concept of ideal foothold was put forward, with the 3D deviation between the ideal foothold and real foothold deduced by correcting the single leg kinematic model. The forward/inverse kinematic solutions between the ideal foothold and the joints-angular vectors were formulated. The root joint trajectory of single leg generated in simulation environment verifies the effectiveness of the algorithm. A series of walking experiments results show that the correction algorithm could improve the walking orientation deviation problem and the energetic cost obviously by avoiding foot slippage phenomenon as much as possible.
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