Research On Crawling Gait And Posture Control For Hexapod Robot

Hexapod robot has many advantages,including joint degrees of freedom,goodstability,high load capacity,terrain adaptability and so on. It can be applied to some ofthe places that humans can not reach or is likely to endanger human life, specialoccasions,and its superior performance has been the focus of attention at home andabroad.In this work,a six-legged robot platform for a variety of terrain would be designed.in order to realize its autonomous crawling gait and good posture control,The researchwork is mainly presented as following aspects:First of all,the legs kinematics and body kinematics are analysed on the basis of themechanical structure,and get it forward and inverse kinematics equations.then,we couldget the mapping between the foot end and the body posture and the six-legged robotangular position of each joint. A mobile base hexapod robot dynamics model that isbuild by articulated body algorithm can provide an effective dynamic model forsubsequent controller.Secondly,according to the desired velocity and direction of six-legged machine,duty cycle, the relative phase, campaign cycle, the stability margin and otherindependent crawling key parameters are analysised by using the fluctuation gaitalgorithm; the track of the foot depend on the horizontal speed and vertical speed,through the inverse kinematics model we could get the joint motion and designautonomous hexapod robot crawling gait algorithms.Finally, a six-legged robot electrical control system has been build.On the basis ofthe independent crawling gait and posture control algorithm,control software isdesigned.Considering the dynamics of six-legged robot, the PD control with gravitycompensation is designed by Jacobi matrix to improve the stability under load hexapodrobot system. Tracking the desired trajectory simulation has verified independentlycrawling gait algorithm, loading simulation has verified the feasibility of joint trackingerror controller, simulation has tested the robot walking efficiency and the maximumclimbing angle on the hard and soft ground conditions. the hardware system has verifiedthe typical gait and body posture control.