Obstacle avoidance path optimization method of multi-legged robot based on virtual reality technology

Abstract

In order to improve the virtual reality planning ability of obstacle avoidance path of parallel hexapod-linked multi-legged robot, a virtual reality planning method for obstacle avoidance path of parallel hexapod-linked multi-legged robot based on virtual reality simulation and zero moment point motion optimization strategy is proposed. Establishing a foot motion stability detection and cooperative turning control model of a parallel hexapod-linked multi-legged robot, optimizing the obstacle avoidance path of the parallel hexapod-linked multi-legged robot and matching binocular vision virtual reality characteristics in the process of self-adaptive spatial position planning by adopting an environment perception and motion driving method, and establishing a distributed cooperative control and parameter identification model of the movement obstacle avoidance path distribution of the parallel hexapod-linked multi-legged robot. Based on the matching method of platform mechanical structure parameters and electric actuator parameters, the obstacle avoidance path optimization, adaptive spatial location planning and spatial parameter identification of parallel hexapod-linked multi-legged robot are realized. Through all-weather obstacle avoidance parameter identification in complex environment, the obstacle avoidance parameter identification and path optimization of parallel hexapod-linked multi-legged robot are realized. Combined with Kalman filter algorithm, the virtual reality planning model of obstacle avoidance path is constructed to improve the control stability. Tests show that this method has good adaptability and strong obstacle avoidance ability in virtual reality planning of obstacle avoidance path for parallel hexapod-linked multi-legged robot.