Study On Motion Planning And CPG Control Of A Hexapod Bionic Robot

Walking robot is not only required to adapt to the known and structured environment, but also the unknown and unstructured environment. Since the legged robot is capable of navigating obstacles, sand ground and rugged road, it has good environmental adaptability and could be applied to the tasks which are dangerous or couldn’t be accomplished by human beings, such as engineering exploration and survey, anti-terrorism detection, military reconnaissance, etc. Hexapod robot possesses the preferred all-round performance in legged robot field for its simple mechanism and control system, better stability and physical redundancy than biped and quadruped, which makes it widely used in the complex environment. Balance gait study is important guide for robot stable walk. We use gait chart of hexapod insect’s typical gait (tripod gait, tetrapod gait, etc.) to analyze and summary the movement; taking stability margin as the criterion of Hexapod robot’s static stability, carrying on the plan using the robot terminal path plan technology to the robot typical gait path, and conducted the simulation research in the ADAMS virtual prototype, which establishes the theoretical basis for multi-locomotion was of robot.Based on mutual inhibition neurons, the oscillating model is established, by which the CPG (Central Pattern Generator) control network of the hexapod bionic robot is developed. The impact on the output by parameters of CPG model is analyzed by single parameter analysis and related parameters analysis in the computer simulation, to receive the results of CPG model parameters on the output of the trend, the interaction between parameters, and to ensure the stability equation of the range of oscillation parameters. The CPG control network parameters of the robot are set by genetic algorithm. By studying the law of motion between the knee and hip, we build a half-wave function which is the mapping relationship between the hip and knee. By using virtual prototype made up of MATLAB and ADAMS, we realize the simulation of based on the CPG control of tripod gait, and the tripod straight-line walking gait and the tripod fixed-point turning gait experiments confirmed the validity of the designing and theoretical analysis of the robot system.