Gait Control And Planning Of Hexapod Robot Climbing Stairs

As an important part of robot research,legged robots have wide research space and application prospects.However,there are not many studies on the obstacle analysis and the autonomous obstacle control of the foot robot.In order to meet the needs of the military in the field of robotic obstacles,this paper designs a six-legged detection robot with efficient mobility and excellent obstacle performance based on the stair environment.This paper mainly studies the structure design,gait planning,motion analysis and climbing stairs control methods for the hexapod detection robot.In this paper,the overall structure of the robot is designed firstly,and the static analysis and modal analysis of the robot semi-circular leg and fuselage frame are carried out,which verifies the rationality of structural design and material selection.On the basis of the design of the mechanism,the gait of the robot movement was planned,and the straight gait,the turning gait and the stair climbing gait were designed.Then the kinematics analysis of various gaits is carried out,and the stability analysis of the robot is carried out according to the climbing environment,which provides a reference for the subsequent motion control.Then the motion simulation is carried out with ADAMS software,which verifies the rationality of the robot structure design,gait planning and the accuracy of motion analysis.Then the paper designs the robot control system and designs the control method of climbing the stairs.The design of the control system mainly includes the main controller,the drive system and the sensor system,which lays the foundation for the subsequent physical prototype production.The climbing stairs control method is mainly divided into two parts: the posture adjustment before climbing the stairs and the adaptive control when climbing the stairs,so that the robot can climb the stairs autonomously.Finally,a prototype of hexapod robot is made,and the accuracy of gait design and motion analysis and the feasibility of control methods are verified by experiments,which provides a basis for the improvement and optimization of the robot in the future.