Stability Control And Simulation Analysis Of Crab-like Walking Robot

With the development of robot industry, robots are widely used in various fields, to help people to cope with many complex jobs even replace people’s position. Mobile robots with multi-legs have strong adaptability to the rugged road. With bionics theories, put crabs as the prototype to study the planning of stable gaits of a robot. Based on the backgrounds and the research Status of the discipline, draft the study contents of this paper. First, use mathematical tools to build the model of the robot, with kinematic and kinetic analysis, observing and analyzing the crab’s gait, then work out the initial plan of the robot’s gaits. Combine with the Stability criterions of robot system and interpolation methods of leg’s trajectory, obtain the stable gaits of the crab-like robot. After that, build the model of the robot in engineering design software, then simulate the walking process in software environment. Obtain the gaits which are more stable after optimize the key parameter of the gaits based on the results of the simulation.