Gait Planning And Research Of Cpg-based Locomotion Control Method Of A Class Of Hexapod Robot

With the gradual expansion of human exploration of nature and even outer space,more and more robots have been applied to special conditions where conditions are extreme,harsh,complex,and even dangerous,such as space exploration,deep sea exploration,mine clearance,and nuclear reactors.Wait.The common feature of these environments is that the terrain is complex or even unpredictable,and the demand for highly mobile and highly reliable mobile robots that can adapt to environmental changes and autonomously plan path s is increasing.Foot-type robots have the ability to cope with complex terrain more than wheel-type and crawler-type robots,and are therefore closely watched by all walks of life.Because of their unique gait control and limb structure,myriapod insects can flexibly walk in a variety of complex terrains.Therefore,the bionic control method has become a hot topic in the study of robot motion control.The central pattern generator(CPG)can make the robot reproduce the biological rhythm movement more simply and effectively.This article should study the hexapod bionic robot motion control,and use the CPG control method as the basis to design a multi-foot coordinated control strategy for the smooth walking of the robot.First of all,more systematic researches are conducted on gait planning and kinematic analysis of hexapod robots.The definition of the gait of the robot is introduced.The robot's three advanced states and in-situ turning gait are planned.The static stability of the robot in each asynchronous state is further analyzed in detail.The D-H method was used to establish a coordinate system for the legs of hexapod robots.On this basis,the forward and inverse kinematics of walking legs of hexapod robots was solved.Secondly,based on the theoretical analysis of gait and stability,the CPG control method is introduced to control the gait movement of hexapod robots.The central mode generator uses a single nonlinear oscillator as the core.This basic unit selects the Wilson-Cowan neural oscillator,analyzes the relationship between the model parameters and the output,and determines the parameter values.After that,the foot trajectory of the planning robot is parabolic,and the three-joint single-leg motion curve is obtained.Using the Wilson-Cowan neural oscillator as the core and the ring-shaped CPG topology as the coupling method,the CPG control system is formed to control the hip joint motion of the hexapod robot.On this basis,the knee joint and knee joint are controlled in combination with th e joint mapping function.The movement of the joint ultimately achieves coordinated control of the hexapod robot's six legs.Finally,the walking experiments of three forward gaits and in-place turning gait were implemented through the hexapod-wheel composite robot experimental platform to verify the effectiveness and feasibility of the motion control strategy based on the CPG control model.