This paper explores the interdependance of walking algorithm and limb workspace for the Multi-Appendage Robotic System (MARS). While MARS is a hexapedal robot, the tasks of defining the workspace and walking agorthm for all six limbs can be abstracted to a single limb using the constraint of a tripedal statically stable gait. Thus, by understanding the behavior of an individual limb, two walking algorithms have been developed which allow MARS to walk on level terain. Both algorithms are adaptive in that they continously update based on control inputs. The differences between the two algorithms is that they were developed for different limb workspaces. The simpler algorithm developed for a 2D workspace was implemented, resulting in smooth gait generation with near instantaneous response to control input. This accomplishment demonstrates the feasibility of implementing a more sophisticated algorithem which allows for inputs of: x and y velocity, walking height, yaw, pitch and roll. This algorithm uses a 3D workspace developed to afford near maximum step length.

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