| Power-divided multi-legged robot is a kind of all-terrain mobile robot. It has the feature of quick speed and good adaptability. The key technology of this kind robot is how to solve the problem of the navigation and walking. This paper focuses on walking robot navigation technology research which was based on the power-divided multi-legged design.Firstly, the power-divided multi-legged robot’s characteristic has been analyzed. The navigation system is controlled by STM32.The hardware and software of each module has been completed. Inertial device has integral error accumulated with the time, which has been maked up by using the long time stability of GPS. GPS signal can be compensated by using the high precision of inertial device when it is blocked and lost in a short time. By using this method, the integrated navigation system can be realized. Discrete Kalman filter is designed for power-divided multi-legged robot’s integrated navigation system. The accuracy and reliability of navigation has been effectively improved by the information fusion technology of the multi-sensor.The feasibility of the integrated navigation system has been established by using the relevant test platform of six-legged robot. Based on the parameter of six-legged robot’s navigation system, this paper studied the gait generation and motion control of power-divided eight-legged robot. Finally, the virtual prototype analysis software verifies the feasibility of power-divided eight-legged robot’s path planning and motion control. |
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