Abstract –Hexagonal hexapod robot is a flexible mechanical robot with six legs. It
has the ability to walk over terrain. The hexapod robot likes insect so it has the same
periodic gaits. These gaits are tripod, wave and ripple gaits. Hexapod robot needs to
stay statically stable at all the times during each gait in order not to fall with three or
more legs continuously contacts with the ground. The safety static stability walking can
be indicated by the stability margin. In this paper we based on the forward, inverse
kinematics for each hexapod’s leg to simulate the hexapod robot model walking for all
periodic gaits and the geometry in order to derive the equations of the sub-constraint
workspaces for each hexapod’s leg. They are defined as the sub-constraint workspaces
volumes when the legs are moving without collision with each other and they are useful
to keep the legs stable from falling during each gait. A smooth gait was analyzed and
enhanced for each hexapod’s leg in two phases, stance phase and swing phase. The
equations of the stability margins are derived and computed for each gait. The
simulation results of our enhanced path planning of the hexapod robot approach whish’s
include all the gaits are statically stable and we are compared between all stability
margins for each gait. In addition, our results show clearly that the tripod gait is the
fastest gait while the wave and the ripple gaits are more stable than the tripod gait but
the last one has less peaks of stability margins than others.