Research on Gait and Control of Bionic Hexapod Robot

Abstract

With the development of science and technology and the improvement of software and hardware, many scientists have focused on the research of robots and bionic robot technology is more and more popular. At first, in the military, the wheeled and tracked robots have been widely used, but with the continuous expansion of the applied scope of human robot, in complex environment, these two types of robots have been unable to meet the demand. Compared with the wheeled and tracked robot, legged robot has obvious advantages in rugged environment. Compared with bipedal and quadrupedal robot, the hexapod robot has redundant structure and its carrying capacity and stability are also improved. Hence, the development of hexapod robot has become a hot spot.In this paper, the structure and the prototype of the hexapod robot are designed. Using the bionic principle, the six legs are distributed on both sides of the body, each leg has three degrees of freedom, which ensure the robot's perfect movement ability. Through the comparison of several kinds of gait, the gait trajectory planning and time sequence control of six feet are summarized. In this paper, we mainly study the gait control of the hexapod robot and the redundancy of the leg. The basic purpose is to achieve the control of hexapod robot's six legs in accordance with the expected speed and the forward direction so that the robot can walk stably and quickly. Moreover, when one to three legs are out of order, adjust the angle between the remaining legs and adjust the center of gravity to keep it stable, it can still walk steadily.