5 Legged Locomotion


When designing legged robots, we generally see an even number of legs. Mainly, we think, it is due to us modelling things after nature. But with robotics, you’re free to do whatever you want. [Iketomu-san] has built this unsettling 5 legged robot out of parts he had lying around. The gait is fairly interesting. He mentions that it could be used for robot fighting, where the odd leg would serve as a prop from behind and the two legs up front could be weapons. What kind of gait or use can you come up with for this thing?

25 thoughts on “5 Legged Locomotion

  1. I prefer this to the 3 servo hexapod that was posted recently, which had 6 legs but much more limited motion. The zero turn radius on this robot is a major advantage in my book.

  2. the fifth leg seems a little useless, it always held one stiff and drug it along. the only time it used all five was in turning, which it could of pulled of with four. using it for a prop when fighting makes sense. with more complex walking patterns could make use of the extra leg too (can’t imagine that easy tho).

  3. This thing reminds me of this guy I saw once, he must have been an acrobat or something, he wore a mask and a mannequin head between his legs, and would alternate between walking on hands and feet.

    Anyway, the motion reminded me for some reason.

  4. How about moving in a sort of sideways cartwheel motion? Not sure the arms move fast enough to pull that off though. The 5th arm makes the robot appear dysfunctional when it just drags it along.

  5. Definitely agree the gait needs work, didn’t really see any that I’d call a true pentapedal(?) motion, always working in pairs or as a support. Nice project though, and an intriguing concept, can’t wait to see the next iteration

  6. @sasquatchking;

    Agreed, five is definitely more of a “natural” number than four or six. Everything else in nature (plants, fruits, vegetables) is based on the Fibonacci series of which five is a part.

  7. I agree with Stranger, Torque- this isn’t what I’d call walking with five legs, it uses the back four (looking a bit like a gorilla to me) with the front one dragging.

    I’d prefer to see it move one leg at a time going around the body, either sequentially or 1-3-5-2-4. Three are enough to balance on, so it should theoretically be able to always have two off the ground…

  8. I don’t understand why so many bot builders neglect a simple and cheap part… A small piece of rubber or neoprene on the ends of the feet. That thing seems to waste much of it’s energy with slips/slides. The concept is interesting however.

  9. Why use genetic programming when you can use your hand … better yet make it look like a hand and freak people out

    Like thing from Adams Family

    or a Floormaster/Wallmaster from Zelda. That my good sir would kick ass

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