Study On Motion Planning Of Hexapod Walking Robot To Unstructured Terrain

Hexapod walking robot has more terrain adaptability than other type robots. It has the capability of adapting unstructured terrain, which can be used for medical services, military affairs, disaster area rescue, and other related areas. Associated with terrain characteristic of unstructured environment, the motion planning of hexapod walking robot is analysised in the whole.Firstly, based on creating the unstructured terrain, this dissertation analysis the global surface feature and local surface feature of the unstructured terrain. Combining the feature description and topological structure, it builds an unstructured terrain of adapting this dissertation. Secondly after modeling the unstructured terrain, this dissertation establishes the kinematics equation of hexapod walking robot with uniform reference coordinate system, analysis the inverse and forwards kinematics of swing leg and supporting leg, deduces the velocity and acceleration., it is helpful to guide the further motion planning on unstructured terrain. Thirdly, based on the unstructured terrain and the kinematics model, this dissertation analysis the gait optimized in the motion process and sets tripod gait and quadrilateral gait, which suited for the unstructured terrain, these two types ensures the stability of the motion process; increase the efficient of the motion, which based on the priority of all the legs. Using the way of energy stability margin, it analysis the stability of placid unstructured terrain and cragged unstructured terrain without thinking about inertial torque and exo-torque. This dissertation uses the class parabola trajectory for the legs on the restriction of gait planning and kinematics analysis, this way saves the time, reduces the losses, avoids the interference between the robot and complex ground, ensures the continues of walking, therefore the robot can complete kind types of motion, up and down sloping, right and left turning, straight line moving and so on. In control way, the dissertation uses the I/O signal for in and out, ensures the coordinate of the body and legs. Finally simulation is given to prove effectiveness of the build walking mode, thus the hexapod walking robot can provide further research on unstructured terrain with reference to the theoretical model.