Study On Gait Planning And CPG Control For Hexapod Robot

Hexapod robot,as a parallel robot,has become the mainstream product in the robot because of its flexible and changeable movement mode and strong stability,and its good environmental adaptability.However,due to the large number of legs in the six groups,the control difficulty of the hexapod robot is increased.The emergence of central mode generator(CPG)provides a new idea for the control method of hexapod robot.In this paper,the hexapod robot recognizes the terrain and then adopts the corresponding gait planning to study,using CPG to control the hexapod robot to walk smoothly in the terrain environment.Specific studies are as follows:First of all,the development of hexapod robot and CPG is introduced through research papers at home and abroad,and the main content and mechanism arrangement of this paper are also introduced.Secondly,aiming at the mechanical design and kinematic analysis of hexapod robot,the leg coordinate system based on D-H matrix rule is established,the forward and inverse kinematic equation of the leg is derived,and the motion speed of the leg is analyzed.Thirdly,the gait related concepts of hexopped robot were introduced,and the stability analysis of each gait was carried out,the central mode generator of Matsuoka was improved,and the parameters of the improved central mode generator were found by the trial-and-error method and the single parameter combination method.Finally,the correctness of gait was verified on SIMULINK.Furthermore,the method of front environment recognition of hexapod robot is studied.According to the existing environment of the laboratory,the data set used to identify the environmental terrain of this subject was established.Using Mobile Net convolutional neural network to extract image feature points,stacking fusion algorithm was used for image recognition experiment,and the feasibility of terrain image recognition was verified.Finally,LabVIEW was used to make the master computer interface.LabVIEW was used to respectively invoke c++ 's image processing results and SIMULINK's control algorithm to realize the control of the lower computer FPGA.As the slave computer controller,FPGA using the image acquisition module,power module and motion module to realize the gait control of the hexapod robot.