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I am making a hexapod ( six legged walking mechanism ) which walking by keeping 3 alternate legs in air and other 3 on ground, pushing the body ahead, also known as tripod gait. The basic structure of model and one leg are shown in the pictures. I want to calculate the torque requires by servo whose axis is alligned to axis1, i.e. hip joint. Hip joint of 3 alternating legs will act together to push the body forward. I have calculated the angles of rotation and mass moment of inertia of the whole structure.

Torque= I x alpha

Can I simply use the above formula? I think i will have to divide the Inertia by 3 as 3 hip joints will act together.

If you imagine the motion, alternate 3 legs on the ground forming a triangle rotate about the tip touching the ground due to rotation of hip joint about axis 1.

I am a confused how to approach this problem.

Looking forward to the solution!

Thanks :)

n

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# Hip joint torque in walking mechanism

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