Master the Tripod Gait for Hexapod Robots in One Read!

Often called "spider robots," hexapod robots draw direct inspiration from insects. If you observe a walking insect closely, you'll notice it doesn't move all six legs at once. Instead, it cleverly divides them into two groups, with three legs forming a stable "tripod support."

The miniHexa hexapod robot precisely replicates this ingenious natural gait. It divides its six legs into two groups (Left Front, Left Rear, Right Middle as one group; Right Front, Right Rear, Left Middle as the other), creating two alternating tripod supports. While one group acts as the support legs, driving the "thighs" backward via servos to steadily push the body forward, the other group acts as the swing legs, lifting off the ground and stepping forward. This alternating cycle between the two groups creates the robot's stable, fluid walking motion.

The core advantage of this tripod gait is its exceptional static stability. With always three points of support, the robot's center of gravity remains low and stable. This allows it to maintain balance on various terrains without complex dynamic balancing algorithms, achieving true all-terrain adaptability.

Traditionally, implementing the tripod gait in hexapod robots relied on setting fixed motion sequences in host computer software. Engineers had to manually set the angle for each servo at every step, frame by frame, like creating stop-motion animation, and arrange these into rigid sequences. While this enabled basic walking, the resulting gait was a pre-recorded "fixed trajectory" with significant limitations: the robot couldn't adjust step length, direction, or body height in real-time during movement. This led to monotonous motion and poor adaptation to complex or dynamically changing environments.

Hiwonder provides a superior solution for the miniHexa—an Inverse Kinematics (IK) Gait Algorithm. The miniHexa features a fully self-developed IK gait system that overcomes the limitations of traditional fixed-sequence gaits. It calculates joint-space trajectories for its 18 degrees of freedom in real-time, achieving centimeter-level precision in foot placement and enabling efficient, precise 360° omnidirectional movement.

So, what is Inverse Kinematics, and how does it break the constraints of fixed motion sequences?

Think of it with a simple analogy: Imagine you want to reach for a cup on a table. Your brain doesn't consciously calculate how many degrees your shoulder should rotate, how much your elbow should bend, or how your wrist should coordinate. You instinctively know how to move your hand to the cup's location. This process of working backward from a target position to determine how each joint should move is Inverse Kinematics. For the miniHexa, this means you only need to specify a direction and speed, and the algorithm automatically and continuously plans the optimal leg movement trajectories.

It is precisely this algorithm that allows the miniHexa to achieve seamless, stepless adjustment: whether dynamically turning while walking, smoothly switching body height and posture (pitch/roll), or freely transitioning between high and low stances, all motions are executed fluidly in one coherent sequence. This adaptive gait based on Inverse Kinematics is also recognized as the optimal solution in current bionic robotics for achieving high mobility and flexibility.

From drawing bionic inspiration to innovatively applying IK algorithms, Hiwonder's miniHexa hexapod robot showcases the complete development path of modern robotics technology. Start by understanding the tripod gait. Start with the miniHexa. Take your first step into the world of bionic robotics.