Design Of Control System For Wheel-legged Hexapod Robot

Due to high load-carrying capacity,strong terrain adaptability,and flexibility,hexapod robot has been widely used in the design both of traditional and intelligent robots,and helps the development of many new fields,such as planet detection and deep-sea exploration.However,current control algorithms only adapt to specific terrain,and neglects the role of human beings seriously.Therefore,taking the manned hexapod robot as the research object,this paper proposes a new auxiliary driving decision algorithm by introducing auxiliary driving decision.This algorithm realizes the stable passage under various terrain and improves the driving safety.At first,a structure of a hexapod robot is redesigned and a hexapod robot control system is built in this paper.Next,topographic eigenvectors are extracted by superimposing a single structured terrain into a complex terrain scene model.Then,the stability evaluation index of hexapod robot is proposed based on the discrete model of foot end and the topographic features.To complete the transition from flat terrain to slope in automatic control mode,a control algorithm based on hybrid strategic game is proposed,which obtains the optimal manipulation instruction information for the next process by establishing the game model of hybrid strategy and solving Nash equilibrium.Then the instruction information is fed back to the driver in the form of gait switching.To achieve the transition from slope to flat terrain,a cooperative game algorithm is designed which feeds the optimal foot and body motion sequences to the driver in the form of instruction information.To solve the obstacle terrain walking,a control algorithm,based on Bayesian decision theory,is proposed.The algorithm is equivalent to adding manual intervention and feedbacks the optimal decision instructions to the driver.Finally,the auxiliary driving decision algorithm isimplemented by setting different weight factors to handle different terrain.Hence the optimal passage strategy is realized.To verify the applicability,stability,and efficiency of different control algorithms for specific terrain,this paper creates a hexapod robot,the simulation environment model,as well as a semi-physical simulation platform by using multi-body dynamics software Vortex.And through the simulation experiments of the hexapod robot under various topography,the experimental show that the auxiliary driving decision algorithm enhanced the stability of the hexapod robot significantly,reduces the tilt and foot impact of the body effectively,and improves the control efficiency.