Research On Omnidirectional Walking And Path Search On Complex Landform Of Gorilla Robot

Gorilla robot as a novel biomimetic robot, domestic and foreign scholars andpersonal rare researched. Gorilla robot Each leg of the gorilla robot has six degrees offreedom, a total of24degrees of freedom about four legs, in response to the field ofcomplex ground environment, reflects the ability of conventional wheeled and trackedmobile robot unparalleled flexibility and adaptability of the environment. Gorilla robothas a variety of moving ways, and the successful implementation of bipedal walkingquadruped walking and climbing sports, you can switch between a variety of moves toeach other. In the wild and dangerous environments, people often need the help of robot-assisted completion of the conventional case can’t complete the task, such asextraterrestrial space exploration. Therefore, this article apes walking robot complexground and launched a study of the search path.This paper first introduces the Gorilla analyzes the characteristics of robotmechanism and control system consisting of hardware and software, combined with thecomplexity of the ground made the freedom of intermittent crawl gait, are still walkinggait, which always falls on the robot centroid projection support regional stability; inorder to improve complex Ground walking round athletic ability, made walking gait fixedaxis turning and walking robot gait stability under apes for freedom, we propose a newstable equilibrium criterion, citing the concept of stability margin stable robot apes wereevaluated; in order to make the robot smoothly through the complex terrain, the"rectangle" swing leg trajectory planning method, using spline interpolation methodimplements the foot end of the robot trajectory displacement, velocity and acceleration ofcontinuity, reducing the impact on joints and ground contact force impact; leg spaceaccording to the scope of the robot pose constraints were adjusted so that the robotobstacle capacity enhancement; finally studied in global terrain information is known, theterrain to be divided, and the use of A-star algorithm The initial position of the robot andthe target location path search, and the introduction of mobile cost function to evaluatethe generated path.Finally, the use of Solidworks to create a virtual prototype model and terrain model,based on the theoretical analysis of complex samples generated ground walkingenvironment, introduction to the Adams environment simulation study, simulation resultsvalidate the success of apes ground robots in complex environments and the ability towalk round the reasonableness of the search path.