Research On The Single Leg Semi-autonomous Control For Manned Hexapod Robot Control System

With the development of the robot technology in the recent years, robot hasbeen used in many fields widely, you can see them from the field of industry tothe surface of Mars. So, variable robots has become to one of the most importanttool in production and scientific research. Now, there are several researchhotspots in robot technology, such as intelligent robot, micro robot and all terrainlegged robot etc. And on the application of legged robot, hexapod robot, which isas the most important research object, is well known as the good landscapeadaptability, well load capacity and redundant on the legs because of its structure.From the result of research, in spite of the hexapod robot have a good at thefeature of stability, but the robot still have some short in the adaptability ofcomplex terrain, such as hilly ground, if its motion control only depends on themotion planning and autonomous perception of intelligent. At this time, thestability of robot will be better if the manual intervene could be used during themotion planning process.The manipulation control system for hexapod robot is the studied object inthis paper. Based on the manipulation control system of hexapod robot designedusing general motion plan, using the manual intervene and re-design the controlstrategy make the motion control planning process meet the ideology of man-machine coordination. This method could promote the stability during theprocess of robot’s motion and make the driving more easily, as well as enhancethe robot’s passability during running on the complex terrain environment.Firstly, analyze the unstructured terrain environment and design a suit ofalgorithm that could autonomous in single leg, at the same time, could add themanual intervene into motion plan in needed. Thus, doing as this could reducethe risk for driver and have a better adaptability to complex terrain environmentthrough using the manual intervene. Secondly, for simplify the work flow, lower the driver workload, based onthe hexapod manipulation control system before, using the ARM Cortex-A8hardware platform and VxWorks RTOS to build a set of new one that wouldrealize the function from manipulation input to angle output and doing tests on itto make it could work well and meet the requirement.Finally, build the hexapod robot simulation platform through making use ofVortex to simulate the real environment. Then doing the simulation for single legautonomous algorithm to test the algorithm is running well. At the same time,perfect the design of algorithm through checking, analysis and optimization incontrol flow.