Research On Gait Analysis And Control For Hexapod Robot

Multi-legged robot is a kind of robot which mimic multi-legged mammals’ or multi-legged crawling insects’ motion. With the ground contact trajectory for a series of discrete points, multi-legged robot can adapt to most unstructured terrain, with less disruptive, flexibility and other advantages compared with other forms of wheeled or crawler-type mobile robots. Research on multi-legged robot and its related technologies have become a hotspot for research institutions home and abroad.Based on hexapod robot prototype as the research object, according to its structure feature, its kinematics characteristics, typical gait planning, dynamic modeling and joints’ position and speed trajectory tracking strategy has carried on and analyzed, obtained simulation results.First of all, some work have been done about hexapod robot kinematics analysis. D-H model of the hexapod robot has been established. One leg’s kinematics and inverse kinematics equations are deduced. The foot end’s sports space and trajectory is analyzied and studied through simulation.Secondly, the six-legged robot gaits get analyzed, respectively tripod gait, quadrangular gait, pentagonal gait, transverse gait and gait swerving at a specific point. Moving speed of all the gaits above are analyzed and the stability of these gaits are compared using principle of static stability margin. The inverse kinematics of the joint is turned into Arduino’s procedures that can apply in the experiment of gait controlling.Finally, based on Lagrange dynamics equation dynamic model of hexapod robot has been established. Dynamic model parameters are deduced in detail, joints’ position and speed trajectory tracking is controlled using robust adaptive PD algorithm, and the simulation results have carried on through MATLAB Simulink toolbox.