Gait planning method for improving walking stability of hexapod robot

A hexapod robot and gait planning technology, which is applied in the field of hexapod robots, can solve the problems of monotonous and blunt movements, strong sense of rhythm, and inability to move smoothly and smoothly, so as to achieve smooth and stable gait and avoid movement frustration.

Active Publication Date: 2016-06-15
QINU BEIJING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is that the triangular gait of the existing hexapod robot is not only monotonous and blunt,

Method used

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  • Gait planning method for improving walking stability of hexapod robot
  • Gait planning method for improving walking stability of hexapod robot
  • Gait planning method for improving walking stability of hexapod robot

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Embodiment Construction

[0037] The present invention is based on a hexapod robot whose fuselage is a circumferentially symmetrical structure and whose hexapods are evenly distributed on the circumference of the fuselage. The head of the robot on the fuselage can rotate 360 ​​degrees and has a camera module on the front face of the head. . For convenience of description, the present invention defines three coordinate systems, specifically as follows:

[0038] The fuselage coordinate system, with the center of the robot fuselage as the origin, the line passing through the origin, parallel to the plane of the fuselage, and perpendicular to the center line of the front face of the head is the Y axis, and the line parallel to the plane of the fuselage and perpendicular to the Y axis is X Axis, the straight line perpendicular to the plane of the fuselage is the Z axis;

[0039] In the foot coordinate system, the connection between the heel of each foot and the fuselage is the origin of the coordinates, th...

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Abstract

The invention discloses a gait planning method for improving the walking stability of a hexapod robot. The method comprises the steps of walking: raising two non-adjacent feet, starting walking along a translational path of the tail end of each foot, parallel to a connecting line of the center of a robot body and a terminal point, always keeping four feet in contact with the ground during walking, raising the two non-adjacent teeth, periodically rotating each joint of each foot to a corresponding preset angle, and raising or putting down the tail end of each foot along the translational path; and turning: rotating a camera module at the head of the robot to a direction over against a target terminal point and executing basic walking actions. According to the method, jerking and stiff actions and robot body inclination are avoided, so that gaits are fluent and stable; and during rotation, only the head is rotated, the robot body is fixed, and the front surface of the robot is always kept forward linearly, so that the angle distortion is not caused and the front surface orientation can be quickly changed or the robot moves in a specified direction without moving limbs.

Description

technical field [0001] The invention relates to a hexapod robot, in particular to a gait planning method for improving the walking stability of a hexapod robot. Background technique [0002] Hexapod robot, also known as spider robot, is a kind of multi-legged robot. It has the advantages of good stability, high carrying capacity, and strong terrain adaptability. It is the best choice in complex working environments and has broad application prospects. [0003] At present, the common gait of hexapod robots is mainly triangular gait, that is, hexapods are divided into two groups alternately separated, each group has three legs, and the robot's forward, turning, and backward actions are realized through the two sets of joints alternately rising and falling. . Although the triangular gait can move, rotate and other actions, not only the action is monotonous and blunt, but the rhythm of the action is strong, so it cannot move smoothly; and because the forward action of the trian...

Claims

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Application Information

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IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/16B62D57/032B25J9/1664B25J9/1602
Inventor 孙天齐
Owner QINU BEIJING TECH CO LTD
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