Foothold Planning and Body Posture Adjustment Strategy of Hexapod Robot in Complex Terrain

Abstract

Compared with traditional mobile robots, legged robots have a larger workspace and higher flexibility, which can meet peoples demands in various disciplines such as manufacturing, transportation, reconnaissance and rescue. However, all practical applications depend on the stable movement of legged robots. In order to improve the adaptability of legged robots on rough road, this paper proposes a strategy of foothold planning and body posture adjustment of hexapod robots based on its own state in complex terrain. The algorithm calculates the robot state according to the sensors’ information, evaluates the walking environment, and then selects the appropriate foothold and dynamically adjusts the body posture of the robot to adapt to the terrain, so as to improve the walking stability of the hexapod robot on complex terrain. In this paper, the strategy is implemented on hexapod robots Qingzhui-II to prove its effectiveness.