Research On Hexapod Robot Motion Control

Hexapod robot motion control has been the core issue which is strongly emphasized on in the research field of robot motion control.As a result of the good environmental adaptability,excellent stability,flexible motion ability and reasonable structure,hexapod robot has already been the mainstream product in robot field.However,there are some obstacles such as the redundant structure,large number of DOF and complex non-linear problem which has made the hexapod robot motion control a research hot spot in the robot field.It is known that the simple rhythmic movement can be generated and controlled by the central pattern generator.In this paper the motion information of the hexapod robot and the environmental information are acquired by using the sensors.Multilayer CPG network is built based on the information which is feedback to the robot to fulfill the information interaction between the hexapod and the environment in order to control the motion of the hexapod robot.After studying the related research on hexapod and its motion control systems,the kinematics and dynamics analysis of the hexapod have been completed on the base of modeling and simulation of the hexapod.The Matsuoka oscillator is chosen to serve as the CPG model and the parameters of the model are gathered by using the trial-error method and single-parameter method.The CPG model is further optimized by using the proposed tri-neuron model and the multilayer CPG network was built by simulating the animal CPG motion control mechanism.The gait planning and trajectory planning are proposed based on CPG and then the complete motion planning is accomplished.The hardware platform based on CompacRIO is built with sensors and peripheral circuits.The software platform based on LabVIEW is constructed which includes human machine interface and signal processing module.Remote real-time control can be realized by using DataSocket.The communication system is also realized based on the CAN and ZigBee technology and the extended functions are reserved for further development.The united simulation are completed by using the SolidWorks,ADAMS and MATLAB on the hexapod robot platform.The results of simulation and practical experiments on the platform show that the control system of the hexapod is stable and reliable and can meet the design requirements.