K3P: A walking gait generator algorithm

Generating a walking pattern for a legged robot is not an easy task. In the literature there are different proposed approaches: mathematical, model-based and bioinspired methods in order to generate such walking patterns for legged robots. In this article we present the K3P algorithm, conceived to command a robotic legged platform to travel along an arbitrary trajectory, using the velocity of the center of mass as reference for the movements of the legs. The backbone of the K3P algorithm is a kinematic planner, where the center of mass of the robot is propelled forward at the commanded speed and direction while the legs are reconfigured to steadily support the body of the robot. In comparison to other approaches, the K3P algorithm does not use precomputed pattern nor trajectory for the legs or body; instead, the gait generation pattern is done online, during the actual walking of the robot. In this document, we present all the specific details of the algorithm, as well as numeric results of the walking of an hexapod in a virtual test scenario.