The Gait Plan And Control System Research And Develop Of Hexapod Biorobot

Hexapod robots have strong abilities to adapt the terrain, and have redundancy in the legs, so they can go on carrying out jobs in the case of losing some legs. They are suit for tasks which have strict demands for independency and reliability such as spying in the wild, searching underwater and exploring the outer space. At the same time, the characteristic of multi-leg leads to the complexity of the control system, therefore, it has become the key of hexapod robots to research the conrtol methods and design high powered controllers for them.The purpose of this thesis is, to research the control rules of hexapod robots, plan the gait for a completed hexapod robot mechanism, and design the control system for it.First, the mechanism of the robot is analyzed. The D-H coordinate system for one leg is built and the inverse kinematic solution is worked out.Second, the motion of the hexapod robot is planned. Through the researching and concluding of stick insects'gait, and referencing Walknet, the research results on hexapod robot by foreigners, a gait generating method for hexapod robot based on rhythm neural network is put forward. Through the trajectory planning and simulation for the robot's leg ends, the motion data for the key joints of the robot are obtained, which support the control system.At last, a control system based on ARM and FPGA is designed. The rhythm neural network control is achieved via time slice turning on one single processor. The ruder servo controller is designed based on FPGA to control 18 ruder servos at the same time.Experiments are carried out on the robot. It proves that the control system works well, and the gait planning method is effective. The work of this thesis lays a good foundation for further studies on the control of hexapod robots.