Research On The Methods Of Foot-force Distribution And Gait Planning Based On The Multi-Legged Mobile Robot

As a kind of special robots, mobile robots fusion the theory and technology ofmulti-discipline, which have a variety of characteristics and advantages. Hexapod wall-climbing robot is a mobile robot, which has the characteristics of multi-redundancy,multi-branched-chain and time-varying topology motion mechanism. The robot has a veryimportant research significance and practical value, which can to be used not only in the fieldof nuclear industry, architectural, transportation, petrochemical and fire but also in the otherfields.For the multi-foot mobile robot in the complex environments, such as at the bottom andthe side of the bridge, this paper analyzes the problems of the structure, control system,kinematics, dynamics, foot-force distribution method, stability and gait planning of the robot,and the research work has been carried out.First, the paper introduces the current development of the wall-climbing robot at homeand abroad, discusses the implementation of the two basic functions for the wall-climbingrobot. The body structure of the wall-climbing robot in this topic has been introduced,including the major component of the design and implementation. Moreover, the paperintroduces the hardware and software systems of control.Second, this paper analyzes the kinematic for the leg joint of the robot, derives theforward and inverse kinematic equations. On this basis, the foot-force distribution method ofthe multi-legged wall-climbing robot is analyzed. By analyzing the joint driving forceconstraints and dynamic constraints, the method based on the energy optimization is proposed.Considering the safety of the robot, it discusses the foot-force optimization model, establishesthe minimum of the total motor power of the robot as the energy optimization target. Itoptimizes the plantar contact force of the robot, and gives the conversion of the motor controlmodel. The experiment and simulation prove that the optimization method is feasible andeffective.At last, the duty factor of the multi-legged mobile robot is analyzed, the static stability isdetermined and the method of gait control is proposed. Afterward, the three walk gaits includeof walk straight gait, turn gait and ground-wall transition gait has been planned. Moreover,this paper uses the simulation software ADAMS modeling of the robot body, finishes thedynamic gait simulation analysis of the robot through the parameter settings. The resultprovides a basis for the development of the physical prototypes, shows the advantages ofvirtual prototyping technology, which plays an important role of reducing the risk of actualphysical prototyping.