Research On Gait Control Algorithm Of Hexapod Robo

As is known to all,robots can replace humans in many tasks,such as counter-terrorism and landmine clearance,terrain exploration,aviation and aerospace,submarine rescue,and a series of other works.Simply put,robots are intelligent machines with basic abilities such as sensing,real-time planning,and task execution.They integrate high-tech technologies such as electrical and electronic technology,mechanical manufacturing technology,and sensing and control technology.With the progress of society and human development,intelligent control technology and computer science research are also constantly developing,and the field of robots is developing rapidly with this trend,gradually becoming an indispensable part of human life.Mobile robots have become the focus of attention of technology workers and have been listed in national major projects such as the 863 Program.The topic of this paper mainly focuses on the gait control of hexapod robots.In view of the existing problems in the gait control planning,such as the ability of hexapod robots’ free gait to adjust the order and time of leg movement according to various complex terrains to adapt to the environment,the algorithm is relatively complex and the computation is huge.Slight deviation can cause many problems such as crashes,causing incalculable losses to the robot itself and task completion.The commonly used simple and practical triangular gait can walk quickly and stably on flat roads,but its practicality is poor on non-flat and structurally irregular roads.A kinematics-based gait control algorithm is proposed,and the rationality of the algorithm is verified through simulation.Combining the stability of the triangular gait and the practicality of the free gait in the hexapod robot gait control,the hexapod robot can walk freely,efficiently and stably on non-structural roads.The main work content and innovative achievements of this paper are as follows:Based on the physiological structure of Japanese bow-backed ants and common spiders,the body structure of bionic hexapod robots is designed.On this basis,kinematic analysis of the hexapod robot is carried out,and a kinematic model is established.The relationship between single leg posture and joint angle variables is solved by establishing an equation group.The posture adjustment and triangular gait walking of the hexapod robot are simulated and verified on the simulation platform,which proves the rationality of the structure design.The reachable area of the foot in the hexapod robot during motion is analyzed,and it is found that the reachable area of the foot is two intersecting circles.On this basis,the foot trajectory of the bionic hexapod robot is calculated using Lagrange interpolation method.The simulation analysis shows that the foot trajectory of the hexapod robot is smooth and the motion state is stable.A kinematics-based gait control algorithm is proposed.On flat ground,the hexapod robot adopts the triangular gait for quick and stable walking,and the obstacle crossing gait is used for motion on non-structural roads.The obstacle-crossing gait is based on the minimum stable margin model of kinematic analysis and can adapt to changes in obstacle size and its own stable margin.A hexapod robot simulation platform is built to experiment and analyze its motion capabilities.When it is found to be feasible,the hexapod robot is combined with real-world experiments to verify the rationality of the hexapod robot gait control algorithm.