Thedrivers of manned hexapod robots rely on subjective experience in decisionmakingin complex terrain In order to improve the quality of drivers′ decisionmaking

an auxiliary decisionmaking method is proposed The information processing modelof drivers is established

and the terrain is used as the decision factor whilethe priorities of gaits as the result The fuzzy decisionmaking system isestablished to assist the drivers The slope

fluctuation

roughness and barrierheight are defined as the terrain features

degrees of membership are classifiedand the fuzzy rules are formulated The semiphysical simulation platform of thehexapod manipulation is used to compare the decision results of the driverswith auxiliary and without auxiliary The experimental results show that theauxiliary decision method can assist the driver to make reasonable decisionswhen the terrain changes

and increase stability and maneuverability of thehexapod robot in complex terrain