Study On Gait Of Hexapod Robot Walking On Plum Pile

With the continuous development and progress of human society and science and technology,as well as the increasing demand for aerospace,seabed resource exploration,nuclear radiation environment operation,emergency relief,military reconnaissance and other dangerous areas,it has become an urgent need for today's society to create different types of robots that can move efficiently in different demand environments.As a typical walking robot,the hexapod robot has redundant degrees of freedom,discrete foothold and rich gait.It can choose different gaits according to different environments,and when some legs are damaged,the robot can still maintain part of his motion ability.The adaptability of hexapod robots to various non-structural environments has made it become one of the hotspots of current research.At the same time,it will bring great significance and value to our society.At present,the gait research of hexapod robot in non-structural environment is still in the developing stage.In this paper,the non-structural environment is abstracted as plum blossom pile,and the gait of the hexapod robot walking on the plum pile is studied.This paper starts with the performance requirements of the hexapod robot,and then analyzes and designs the layout of the leg around the robot body.The legs of the hexapod robot are designed according to the requirements of lightweight,compact structure etc.,and the time belt is designed as the transmission system of the hexapod robot.Finally,the prototype development of the hexapod robot is completed.In order to obtain the coordinate transformation relationship of each joint,fuselage and ground,the forward and inverse kinematics of the leg were solved by the D-H(Denavit-Hartenberg)parameter method,and the foot end workspace is solved by numerical analysis software.The SSM(Static Stability Margin)static stability analysis method and the FASM(Force-Angle Stability Measure)dynamic stability determination method were used to analyze the static stability of the hexapod robot and the motion stability of the robot on the plum pile.Based on the tripod gait,the strategy of choosing the landing point of the hexapod on the plum pile is analyzed,and the strategy of motion stabilization based on the selection of landing point is proposed.The hexapod robot is trained to walk on the plum blossom pile by reinforcement learning,and the trajectory of the body mass center from the starting point to the target point is obtained.In order to select the appropriate walking gait of the hexapod robot on the plum pile,the Markov Decision Process is used to solve this problem.To sum up,the motion planning of the robot walking on the plum pile is completed.Finally,based on reinforcement learning and artificial trial-and-error method,the dynamics simulation platform is established,and the flat plum pile and the three-dimensional plum pile walking simulation are performed for the hexapod robot.By analyzing the centroid displacement of the robot,the force of the foot and the curve of the rotation angle of each joint,the design of the prototype and the strategy of choosing the landing point are validated,and then the conclusion is drawn according to the previous analysis.