Research On Gait And Control Algorithm Of Hexapod Robot And FPGA Implementation

With the development of smart logistics and intelligent plants,legged robots are more and more widely used,among which hexapod robots are more suitable for transportation operations than traditional biped and quadruped robots on complex terrain.When moving on the road combined of flats and slopes,hexapod robot’s posture will change greatly with the variation of the road conditions,and this will lead to instability.If its gait is not adjusted,it may even fall over in the worst situation.In view of the above problems,this subject studies the gait control and posture control of the hexapod robot in the process of moving from a flat to a slope.From these aspects of virtual model construction,kinematic analysis,gait analysis,rhythmic gait generation,stability analysis,posture recognition,posture prediction and control,its movement control strategy and method were studied,and simulation and physical verification were carried out to implement the smooth motion of the hexapod robot on the varied terrain.Firstly,a virtual model of a hexapod robot was constructed according to the body structure of the multiped spider.The D-H parameter method was used to model the robot’s single leg in Matlab,and the motion orderliness of the robot’s single-leg was studied from the two aspects of forward kinematics and inverse kinematics.Secondly,according to the rhythmic movement characteristics of the multiped spider,the generation method of its rhythmic gait and the mechanism of the central pattern generator were studied.Three kinds of CPG oscillator models were compared and analyzed.According to their respective advantages and disadvantages,the Hopf oscillator was selected to generate the motion gait of the hexapod robot,and the parameters of the Hopf oscillator were adjusted by the single-variable method.In addition,six Hopf oscillators were coupled to construct a CPG network,whose x output signal was used for inter-leg coordination control,and its y output signal was used to control intra-leg coordination control,so as to realize motion gait planning based on CPG network control.The force analysis,stability analysis and attitude analysis of the hexapod robot on the slope were carried out,and then the slope stability control algorithm of the hexapod robot was deduced according to the static stability boundary method,the body structure parameters and the geometric relationship.Finally,according to the original physical platform of hexapod robot based on So C FPGA,an embedded control system was constructed.Configure its ARM-based processing system and FPGA-based programmable logic resources,and combine attitude sensors and pressure sensors to build the hardware system of the entire hexapod robot.A hexapod robot simulation platform was built,and simulation experiments were carried out on the CPG gait control algorithm and the slope stability control algorithm by setting different terrain structures;the hexapod robot experimental platform was improved,and the simulation content was experimentally verified.Through the analysis of simulation and experimental results,the feasibility of the above motion control method was verified.