Design And Research On Cooperative Over-obstacle Of Multiple Hexapod Robots

The unstructured road mainly refers to the field environment such as muddy,sand,grassland and ravine.The main features are irregular terrain,rugged,steep,loose,high obstacle,wide trench,high altitude,wading and ice and snow.Ordinary wheel and tracked vehicles can not be used.The contact between wheel and track belongs to the "surface" contact.It is fast and smooth in structure road running and simple in control.But in unstructured road conditions,the energy consumption increases exponentially,the grip force is greatly reduced,and the mobile efficiency is seriously lost.The foot robot contact with the ground belongs to "point contact",the leg structure has multiple degrees of freedom,the motion flexibility has been greatly enhanced,and it has stronger adaptability in the high-risk environment of the unstructured road.In this special environment,which is difficult to reach or endanger the safety of life,it is necessary to rely on multi-robot collaboration to complete the task.There is difficulty about redundant freedom degree design,coordination control,system data transmission channel,task coordination and so on.In order to solve these problems,this paper proposes a multi-robot collaboration method for hexapod robots,and carries out the following research work:(1)Analyze the limitation of single robot,finding out the environment which can reflect the limitation of unstructured road and take it as experimental environment.(2)Innovate the design of hexapod robot.Firstly,the body layout suitable for robot multi robot collaboration is analyzed and selected.Secondly,the optimized design of the robot's leg and joint is carried out.And innovating the design of foot end structure and cushioning,ensure the stability of walking.(3)Make kinematics analysis,calculate the motion parameters of robot foot to get its movement speed,reachable workspace,and the space conversion relations between each parameter,to prepare follow-up experiments.(4)Design the multi-robot collaboration control system structure of hexapod robot.Establish the theoretical control model and set up the overall structure,combined with reinforcement learning algorithm to do simulation analysis and experimental verification.Finally,debug the prototype and establishing experimental platform.Then conduct the experiment on multi-robot collaboration work under the condition of unstructured road.And all the key technologies involved in this paper are verified by experiments and the conclusion is drawn.