Research On Single Leg Experimental Platform For Hexapod Robot And Its High Efficiency Adaptive Impedance Control

With the increasing development needs of people in areas such as complex terrain rescue and exploration of various unknown areas,hexapod robots have been given great attention due to their good walking ability and strong adaptability to various terrain environments.Therefore,it is of great significance to study the ability of hexapod robots to adaptively and stably walk in various unknown rugged environments.Based on Bayesian optimization,this paper builds a six-legged robot single-leg experimental platform,researches and implements the adaptive impedance control strategy of the single-leg robot.The main contents of the paper are as follows:(1)A detailed analysis of the basic structure and working principle of various organisms was carried out,and a reasonable foot structure of the robot was obtained by referring to the existing hexapod robot structure.The single leg experiment platform of hexapod robot was designed,and the kinematics and dynamics model of the robot foot was established to solve the movement law in the landing project,which prepared for the simulation analysis of the foot force position compliance control in the follow-up.(2)The control system is established,including the motion control inner ring of each joint and the overall position-based impedance control outer ring of the system,and its simulation model is established in Simulink.The use of Matlab-Simulink module to establish a control model to analyze the different impedance control parameters and different ground conditions when the stable standing and the foot force stability judgment.(3)Using Bayesian optimization algorithm,select suitable prior function and collection function according to the situation of the subject,and set the corresponding cost according to the research needs to optimize the minimum cost value of the iteration.Real-time update and optimization of impedance control parameters to adapt to various types of ground.Compare the effects of adaptive impedance control under different terrains and real-time changing environments.(4)Build a hexapod robot single-leg experimental platform,debug the corresponding motors and sensors,and write the upper computer program and optimization algorithm.Co-simulation carried out a series of variable impedance control experiments.Through variable force tracking at the end of the foot and hands-to-foot experiments,the improved impedance control’s ability to adapt to variable forces and variable positions was verified;adaptive impedance control through unknown and variable environments Experiments to verify the effectiveness of adaptive impedance control based on the Bayesian optimization algorithm in this paper,enhance the adaptive ability of the hexapod robot facing various and unknown terrains.