Gait transition strategy for hexapod robots based on reinforcement learning

Purpose Hexapod robots possess a diverse range of gaits, and dynamic transitions between different gaits are of great significance for enhancing the overall motion performance of the robot. Therefore, to address the problem of dynamic optimal gait transition, a gait transition strategy for hexapod robots based on reinforcement learning is proposed. The purpose of this study is to achieve a dynamic, stable, and fast gait transition for hexapod robots from an initial state to a target gait. Design