The Research Of The Gait Planning And Control Of The Multilegged Walking Robot

The"4+2"multilegged walking robot developed at our lab is characterized by its redundant actuation and kinematics topology. In order to realize the multi-function and omni-direction of the robot, a series of technique problems must be resolved, in which the gait generation and control are crucial and important. Therefore, the gait generation algorithm and control are studied in this dissertation.Firstly, the mechanisms of existing multilegged walking robots are presented comprehensively. The joint variables are calculated by the kinematics analysis of the "4+2" multilegged walking robot. Secondly, the static stability and the duty factor of the hexapod robot are analyzed. The gait generation algorithms are designed to implement the straight-going walking, the stand-still turning, and the obstacle avoidance walking for the robot. The method on calculation of the maximum stride and the maximum turning angle of the robot is also proposed in this paper. Thirdly, the interface of the robot is developed with Visual C++ on Windows OS. Finally, in order to realize the communication between the PC and IPC, the serial communication protocols based on frame transferring are proposed. The methods of the serial communication in Windows OS are studied, and the serial communication program is realized by applying the Visual C++ class technique. The experimental results of the robot verify that the proposed methods are feasible and reliable.