Abstract
This paper proposes a hexapod robot posture control method for rugged terrain to solve the problem of difficulty in realizing the posture control of a foot robot in rough terrain. The walking gait and original position of a six-legged robot is planned, and the Layer Identification of Tracking (LIT) strategy is developed to enable the robot to distinguish mild rugged terrain and severe rugged terrains automatically. The virtual suspension dynamic model is established. In mild rugged terrain, the posture maintenance strategy is adopted to keep the stability of the torso. In severe rugged terrain, the posture adjustment strategy is adopted to ensure the leg workspace and make it more widely adapt to the changing terrain, and a gravity center position adjustment method based on foot force distribution is designed to use foot force as feedback to control the position and attitude. The experiment of posture control in rough terrain and climbing experiment in the ladder terrain shows that the hexapod robot has good posture maintenance and posture adjustment effects when traversing complex terrain through the posture maintenance strategy and the posture adjustment strategy. Combined with the terrain identification method based on LIT, the hexapod robot can successfully climb the ladder terrain through the identification of the changing ladder terrain, and the movement of the posture adjustment process is stable.
Highlights
The hexapod robot has abundant motion forms, redundant limb structure, good flexibility and stability, and can widely adapt to unstructured terrain
This paper proposed a rugged terrain adaptive strategy based on foot trajectory to solve the problem of hexapod robot posture control in the unstructured terrain climbing
The unstructured terrain was judged as mild unstructured and severe unstructured, and the corresponding posture adjustment mode was activated by combining the change of foot trajectory and the autonomous terrain judgment strategy based on layer identification of tracking (LIT)
Summary
The hexapod robot has abundant motion forms, redundant limb structure, good flexibility and stability, and can widely adapt to unstructured terrain. In the optimal pose method [3,4], from the perspective of trunk position control, the robot’s posture is controlled to make the hexapod robot have better stability and flexibility. The problem of foot force distribution is related to the performance of multi-legged robots, which is of great significance to the improvement of walking performance It is a comparison between the stick insect and the robot HITCR-II model. In order to reduce the volume and weight of the joint, a joint design scheme based on brushless DC structural parameters the realized are 58.5 mm mm wide, 28 mm 118 g motor drive, harmonicofreduction, andjoint synchronous beltlong, drive42was developed. 136–196 mm Length of the leg 310 mm Longitudinal span under initial pose mm Lateral span under initial pose mm Lateral span under initial pose
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