Research On Control System For Hexapod Bionic Robot

In the process of humans understanding and changing the world, there are some places where humans can not reach. These places even could endanger human life, such as planetary exploration, deep sea exploration, disaster rescue and counter-terrorism activities and so on. Bionic robot provides an effective way to solve the above problem. In irregular and uneven terrain environment, multi-legged reptile creatures show a good ability to adapt to rough terrain environment. Therefore, research on multi-legged bio-robot has an important practical significance on disaster rescue and the key technology research in the disaster rescue areas, such as earthquake rescue, prevention and control of forest fire patrol.Research on hexapod bio-robot control system provided theoretical and technical support for multi-legged bio-robot, in particular the research on multi-legged disaster rescue bionic robot.Paper had a detailed analysis of domestic and foreign status for hexapod bio-robot research, and gave the main research content of the paper.Based on the movement characteristics and biological function of hexapod beetle, such as structure, movement principles, we designed the simple structure model on the body and legs of hexapod bio-robot. We had a research three-legged gait on hexapod bio-robot, and had a detailed analysis on straight walking gait and turning gait. The position vector expressions of the end six-legged robot were given.We used adopted modular design method to design and make the hardware control system of hexapod bio-robot. The system structure design was reasonable, cost-effective, and had a good stability and scalability.We compiled the software control system of hexapod bio-robot by GCCAVR, using AVR Studio compile, simulate and download the source code. Software control system was design by using structured method which simplified software debugging and provided a convenient for functional extension of the system.Based on neural network and traditional PID control method, we designed the compound control system of CMAC and PID. Making a simulation with it by matlab, simulation resulted show that the system had some better characteristics such us track the signal better, fast response, system stability, and better robustness.Based on preliminary basis of the subject and the above work, we designed and produced a physical prototype of hexapod bio-robot which provided theoretical and technical basis for further research of the subject.