Eight-legged Bionic Crab-liked Robot Path Planning And Gait Simulation Analysis

The robot, with the advantages of high dependability, good adaptability and powerful performance, is now regarded as a kind of ideal platform for performingdangerous military missions. In recent years, we are facing all kinds of sea disputes, in this case to obtain the advantage in the ocean, national military experts has focused on the study of amphibious robot.In this paper, crap is taken as biological prototype, we do some research about eight-legged bionic crab-liked robot path planning and pait simulation analysis.In the multi-legged application prospect and development situation at home and abroad, etc were reviewed in this article, based on the analysis of the current multi-legged main research content.Crab leg mechanism model is made by abstracting walking leg structure of a crab and3D virtual prototype is established with Pro/E. Based on the screw theory, analysis of the kinematics and dynamics of eight-legged bionic crab-liked robot is accomplished, and obtain the kinematics and dynamics model.Based on Ant Colony Optimization (ACO), this paper presents a new algorithm underlying the robot path planning and static obstacle avoidance in a complex and unfamiliar environment. By mimicking the food hunting behavior of ant colony, this algorithm can search for the global optimal path by adopting the nearest-neighbor search strategy combining an approximating direction function used by multiple ant groups.The3D virtual prototype is exported to the ADAMS by Mechanical/Pro2005interface software and several related parameters were set up. To simulate the eight-legged gait and obtain the kinematic and dynamic data in ADAMS. Then eight foot gait is coordinating simulated and analyzed, and displacement, angular velocity, force, torque, energy consumption are obtained. Single and multiple motion parameters were optimized, so joint energy consumption is lowest while at the same time the robot can still meet the certain obstacle-climbing capability and speed.At last, CPG (Central Pattern Generator) model is discussed based on the biomedical neurosciences knowledge, the CPG neural network model is established and then parameters effects is analyzed. Consequently, the simulation of gait with Matlab indicated that the research scheme is applicable for the further study. All these enhance the actual efficiency and scientific research level of the robot.