Gait Planning And Attitude Fusion Algorithm For A Wheel-legged Hexapod Robot

Mobile robots are usually classified into approximately two categories: wheeled robots and legged robots.Mobile robot research focuses on the wheeled robots and legged robots.Wheeled robots have the widest application scope,with the highest reliability on the plane.The disadvantage is the poor adaptability to ground environment.Wheeled robots cannot be applied to uneven terrain.Comparing to the wheeled robots,legged robots have stronger ability to adapt to irregular terrain because of the discrete points of feet.Legged robots can walk stably in the sand,grass and other uneven terrains.The disadvantages of legged robots include low energy efficiency and low speed.In order to combine the advantages of both wheeled robot and legged robot,a multi-motion mode wheel-legged hexapod robot is designed.The design principle of the wheel-legged hexapod robot is introduced.The kinematics of swinging legs and supporting legs are analyzed independently.The tripod gait of the robot for walking is planned.Foot trajectory based on sine function during swing phase is planned.The gait of the robot for skating is planned.The foot trajectory for skating is optimized in order to reach the maximum constant velocity.In order to control the direction of the robot,attitude of the robot is tested based on the multi-sensor.Using the method of heuristic drift cut(HDR),get the angular velocity value of the body.The attitude information fusion is carried on by using the gyro,the accelerometer and the magnetometer,using Kalman filter algorithm for the fusion algorithm.We complete the simulation of the wheel-legged hexapod robot using Gazebo virtual world based on Robot Operating System(ROS).The walking gait and the skating gait are realized on the simulation platform.The simulation results show that the joint angle curves are smooth,and there is no conflict between the six legs.The walking gait and the skating gait are tested on the wheel-legged hexapod robot.The experimental results show that the robot can walk stably and skate fast.