Design And Simulation Of Adaptive Gait For Hexapod Robot Under Slopes Environment

The traditional robots mostly have limitations for the rough slope terrains. To keepthe robot’s walking security and stability, analysis of the terrain and gait adaptive to therough slope terrain are needed.First, through the analysis of the robot’s walking environment, i.e. the rough slopeterrains, three typical sorts of them are extracted. The structure of robot is introduced.Direct and inverse kinematic models of single leg and overall machine of the hexapodrobot are established based on kinematic principles. Choose the static stability margin asthe principal for judging the stability of the robot.Second, analyze how and why the robot loses balance in these three terrains. Indealing with these terrains and instable situations, a terrain-adaptive gait is proposed here.The design of the gait includes the choice of initial hip joint angle configuration, height ofbody COG, leg motion sequence and foot end track planning. For hexapod robot onregular slopes, walking gaits are designed to meet stability requirements with the choice ofinitial hip joint angle configuration, height of body COG, and leg motion sequence. Forhexapod robot on slopes with hollows and humps, foot end track’s first time planning andits second time planning are presented to realize adaptive control of the robot.Finally, an Adams/Simulink co-simulation analysis of the proposed adaptive gait forhexapod robot on the three typical terrains is presented. Through the co-simulation, thecorresponding body stability margin and change of posture angles are obtained as well.Simulation results verify the effectiveness of the proposed adaptive gait for hexapod roboton rough slope terrains, providing theoretical references for further study.