Motional Planning Strategy Of Three Limb Bionic Robot

Three limb bionic robot is a novel multi-functional robot that has been based on the functional bionic research of mammals and insects. The robot adopts the limb mechanism design method, and its limbs can transform to walking mechanisms while moving, and to operating mechanisms while performing tasks. Its three limbs are designed as an isosceles triangle, and use permanent magnetic feet to keep balance while walking and operating. Its eleven joints are all driven by DC motors separately, and coax, knee and ankle joints employ worms to realize self-lock.。First, based on the system framework of the virtual space, against the three limb bionic robot we defined a new type of mixed control surveillance system. On this basis, the problem of realization is discussed and designed in Java/Java3D development platform. As a consequence, the development of virtual space systems meets the complex and diverse needs of the application, meanwhile it has modular, reusability and extensibility features and the complexity of modeling is unrelated with the completion of specific tasks. Modeling main dependent on reusable and expanding of the specific object of system components, therefore it is more widely applied.Secondly, the article introduced the basic idea of based on fuzzy the evolution gait and carried on the definition and the function division to five kinds of basic gaits. This article proposed online gait planning of the fuzzy rules. This planning relys on the basic gait, carries on the revision to basic gait and products evolution gait for walking in dynamic environment. Finally, the planning by algorithm can automatically revert to the original basic gait and achieve arbitrary change between basic gait and evolution gait. This article designed of a more complete fuzzy control rules and fuzzy output Calculating by the center of gravity method Finally, the simulation results show that theoretically the gait planning method is effective.Then, the paper introduces design of the three limb bionic robot local navigation model based on the vector field. Using of learning mechanism the robot cognizes the state of barriers and route in the environment. Thus the robot completes navigation tasks. The simulation shows that the vector field period of motion planning is effective.Finally, According to movement characteristics of the three limb bionic robot, the article introduced the design of path planning strategy based on the genetic algorithm. Using Java3D it established a virtual space, it's used to the robot path planning simulation. By the simulation results, we confirmed that the genetic algorithm can be fast, stable, obtain optimum precision movement path.