Design And Implementation Of Hexapod Robot Based On SoC

In the mine,earthquakes and other human beings can not reach or extremely dangerous disaster scene,using robot to do work has become a trend.The hexapod robot has good flexibility and stability,and it has obvious advantages in complex road conditions.However,due to the complexity of gait planning and control brought by its redundant limb structure,it faces many problems in practical applications.The current market of hexapod robot which can work in rough environment,but expensive and bulky.Therefore,developing a small and low-cost,good environment adaptability,obvious monitoring effect hexapod robot,has a high application value.In the "Terasic Spider" robot development platform,by adding the hardware devices such as foot pressure sensor,attitude sensor,ultrasonic sensor,USB camera,voice control module and wireless router,and designing the related gait control algorithm to make the hexapod robot has the function of the image acquisition and transmission,mobile phone monitoring,voice control,self-obstruction and so on.The main work of the paper is as follows:(1)Using "FPGA + ARM" SoC architecture to complete the system hardware design.Self-designed the foot pressure detection module is used to realize road conditions discrimination.Through the posture perception module to achieve real-time perception of the body posture.By designing of a logic circuit in PFGA resources,implemented the servo motors,foot pressure sensor,ultrasonic sensor and other electronic devices drive control.All the hardware modules are integrated by using SoC technology to complete the hexapod robot hardware design.(2)Completed six-legged robot kinematics analysis,gait planning and control algorithm design.According to the mechanical structure of the six-legged robot platform,using the D-H method and the geometric projection method to deduced the six-legged robot’s kinematics and inverse kinematics equation.The triangular gait,the four-angle gait,the pentagonal gait,lateral walking gait and turning gait are planned for six-legged robot.In order to sove using a single sensor data calculate the Euler angle is not accurate,using an improved four-element strapdown inertial navigation algorithm is designed to improve the accuracy of the attitude Euler angle.By using the idea of motion decomposition and synthesis to design the position and gesture adjustment algorithm,and the stability of the six-legged robot is improved.Finally,by designing the road discriminant algorithm revised the pentagonal gait,which improves the adaptability of the six-legged robot walking in multi-road condition.(3)Completed the system software design.By transplanting Linux operating system to the DE0-Nano-SoC development board,achieved the embedded side of the software multi-tasking needs;By developing the Android phone monitoring software to realize in a dangerous environment remote control the robot movement and image information realtime monitoring.After repeated testing,the designed hexapod robot achieved to walk in the multiroad environment stably,and monitoring softwate interface friendly,video display clearly and smoothly,posture perception accuracy,step error is small,which reaches the anticipated objectives.