Research On Movement Gait And Design Of Control System For Hexapod Bionic Robot

In order to avoid the injury of human body from bad working environment or to conduct some work which is difficult to complete, it is an important approach to employ budging robots.Budging robots can be divided into different kinds according to the ways of moving, including wheel type budgings robot and pedrail type budging robots and multi-feet budging robots in addition to special type budging robots ,in which the pod budging of multi -feet budging robot has unique advantages compared with wheel type budging robots and pedrail type budging robots . The research on the Leg type robot has become an eye-catching one in the field of robot study for various reasons. Firstly, Leg type robots take on nice adaptibility to rugged road surface; Secondly, the standing point of Leg type is dispersal. The above abilities enables Leg type robots walk freely because it can choose the supporting spot strictly including in the extremely anomalous surface. What is more, Leg type robots can keep fuselage on possessing high stability because of the ability of initiative separating shocks and the ability to allow the contrail of fuselage motion and the contrail of feet motion in different ways.The paper analyzes the mechanical structure of hexapod bionic robots, then comes to locate vector expression about different gait of robots including its gait stability based on the analysis of robot movement gait, the layout about walking gaits in typical straight lines and swerving gaits on a specific point. At the same time , the design is based on the characteristics of computer control system and the mechanical structure and coordination of joint movements about hexapod bionic robot as well as the control requirements on accuracy . Furthermore , the paper introduces the systematic hardware circuits and software flows, conforming the movement of the gait layout of hexapod bionic robots. And by testing it in the lab, it also verifies the reliability and correctness of overall design schemes.The paper is ended by summarizing the main points and proposing further research prospect.