Research On Gait Analysis And Control Of Hexapod Bionic Robot

Hexapod robots have frequently appeared in rescue and disaster relief tasks,pipeline or complex terrain detection tasks in recent years,and even perform some special tasks even in the military.Thanks to the fatigue-free nature of the robot,the demand for labor is greatly reduced,and the efficiency of production and life is also improved.In recent years,a large number of researchers have been studying the complexity of hexapod robot control,with the intention of improving the rigid mobility of hexapod robots and complex control systems.In order to solve the complexity of control,this paper designs a control system that can realize multi-foot coordinated movement.The main research contents of this article are as follows: introduction of the research status of foot robots at home and abroad and several common control methods of foot robots.Comparing the advantages and disadvantages of several control methods,the CPG-based gait planning method has better adaptability and response speed,can produce stable rhythmic movements,and can restore normal rhythmic movements under certain disturbances,self-adjusting ability Better,suitable for controlling the movement of foot robots.Therefore,the CPG bionic control method is used to control the motion of the hexapod robot.In view of the shortcomings of the current CPG control system: the controller model is complex,the parameters are not easy to set;the gait is single,the gait switching is difficult to design a simple model,CPG controller with simple setting parameters.First,the overall mechanical structure of the robot is designed,and the leg structure is designed using natural creatures as a design template.Due to the similarity of the mechanical structure,the kinematics analysis is performed with one leg as the analysis target,and the DH parameter method is used to analyze the forward and reverse kinematics,and the kinematics equation is established;the footwork workspace of the hexapod robot is drawn,and the footwork workspace The three-dimensional display sets the boundary requirements for foot trajectory planning and lays a theoretical foundation for gait planning.Introduce the basic definition of hexapod robot gait planning and three classic gaits,determine the gait use environment,for the gait transition problem of the robot in the process of traveling,propose a gait switching strategy,and refer to the stability margin parameters for the robot.Static stability analysis and foot trajectory planning explore the basic conditions for smooth walking.From the perspective of bionics,the CPG control network serves as a control center to make the gait motion of the hexapod robot imitate the rhythmic motion of nature,so that the hexapod robot's travel becomes more stable and effective.Comparing the advantages and disadvantages of various oscillators,the Wilson-Cowan neural oscillator is finally selected as the basic unit of the CPG neural network organization.The effect of each parameter of the oscillator expression equation on the output state is analyzed,and the appropriate parameters are selected to obtain good rhythm.control signal.Establish the CPG neural network organization,set the corresponding gait weight matrix between different legs,so that the hexapod robot can obtain the control signals of stable phase difference for different hip joints,and finally achieve the coordinated movement of the hexapod robot.Finally,based on the established CPG topology network control structure,simulation experiments on CPG control signals were conducted to verify the effectiveness and feasibility of the three gait motion control strategies based on the CPG control model.The designed CPG network structure can Realization of autonomous gait switching verifies the correctness of gait switching strategy and gait weight matrix.