Locomotion is the method of moving from one place to another. The mechanism that makes a robot capable of moving in its environment is called as robot locomotion.
There are many types of locomotion's:-
The total number of possible gaits (a periodic sequence of release and lift events for each of the total legs) a robot can travel depending upon the number of robot legs.
If a robot has K legs, then the number of possible events is,
In case of a two-legged robot (K=2), therefore the number of possible events is
Hence, there are six possible different events:-
In case of K=4 legs, there are 5040 possible events. Hence the complexity of robots is dependent on number of legs of robots. On increasing legs of a robot the complexity of robotic system increases.
It requires less number of motors for accomplishing a movement. It is little easy to implement as there are lesser stability issues in case of more number of wheels. It is more power efficient as compared to legged locomotion.
In Slip/Skid locomotion the vehicles use tracks as available in a tank. The robot is steered by moving tracks with different speeds in the same or opposite direction. It offers stability because of large contact area of ground and track.