Research On Coordinated Control Of Walking Gait For Hexapod Robot

Hexapod robot is characterized by high-order,strong coupling,multivariable and nonlinear characteristics.It is widely applied to replace human in special tasks such as earthquake relief,underwater search or space mission,so that it can not only liberate mankind,but also greatly improve the efficiency of implementation.This paper is aimed at robots equipped with robotic arms in the Pidgeon process,Performing the slag removal process operation of the reduction tank,focused on the intelligent system of the hexapod robot,first of all,this paper studies the principle and commonalities of ubiquitous hexapod,builds a three-dimensional model of hexapod robot,and studies the control technology of its posture,to realize the coordinated control of the hexapod robot in the mobile process,and complete the free movement of the robot in the reduction tank and the waste disposal center,which is suitable for the horizontal tank or the vertical tank.The main contents of this paper are: firstly,analysis of multi-legged robot research situation at home and abroad and intelligent control method,It is confirmed that the coordinated walking of hexapod robot is adjusted by means of the central mode generator.In view of the goal of the thesis,referring to the structure of the hexapod in the biological world and referring to the longicorn as the reference object,the structure model of the six foot robot is designed,then the characteristic parameters such as the corresponding legs and torso of the robot are determined.Afterwards,theD-H parameter method is used to solve the forward and backward equations of the robot's leg.The foot work space of hexapod robot is described,and the three-dimensional display of the foot work space is carried out by Monte Carlo method.This paper introduces the typical gait of hexapod robot and the basic knowledge needed for gait movement,On the basis of kinematics analysis of robot legs,polynomial interpolation method combined with the stability condition of robot is used to study the foot path of the robot supporting phase and the wobble phase to complete the reasonable trajectory description of the hexapod robot.The coordinated control of the hexapod foot robot uses the Hopf neural oscillator as the basic unit,The effect of the parameters of the oscillator expression equation on the output state is analyzed.The mapping relationship between the output waveform of an improved Hopf oscillator and the leg of a robot is studied,the controllability of the improved Hopf oscillator equation is used to control the arbitrary switching of different gait.Building a gait controller of hexapod robot by using simulation tool ADAMS and MATLAB.After the mechanical modeling of the hexapod robot is completed in ADAMS.Then in MATLAB/Simulink,it is responsible for building the robot leg control rhythm signal based on CPG.Using its unique ADAMS/Control interface to achieve the combination of both,realized the robot's simulation movement.The results of simulation experiment show that using CPG,we can control the hexapod robot to walk steadily and coordinately with triangle gait.The rationality of the structure design of the hexapod robot is verified,as well as the effectiveness and feasibility of the CPG model,the leg movement of the robot is consistent with the movement rule of the leg,which provides a guarantee for the experiment and research of the physical prototype of the hexapod robot.