Gait planning method for improving walking stability of hexapod robot

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...

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, but also has a strong sense of rhythm, and cannot move smoothly and smoothly, and cannot maintain a stable and consistent frontal direction of the robot body

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