Gait Planning Method for Improving Walking Stability of Hexapod Robot

A hexapod robot and gait planning technology, applied in the field of hexapod robots, can solve the problems of monotonous and rigid movements, strong sense of rhythm, and inability to move smoothly and smoothly, so as to achieve smooth and stable gait and avoid the effect of action stuttering.

Active Publication Date: 2017-07-07
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, 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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  • 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 invention is based on a hexapod robot with a circular symmetrical structure and a hexapod evenly distributed on the circumference of the fuselage. The head of the robot arranged on the fuselage can rotate 360 ​​degrees, and a camera module is provided on the front face of the head. . For the convenience of description, the present invention defines three coordinate systems, which are 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 fuselage plane, and perpendicular to the dividing line of the front face of the head is the Y axis, and the line parallel to the fuselage plane and perpendicular to the Y axis is X Axis, the line perpendicular to the plane of the fuselage is the Z axis;

[0039] Foot coordinate system, with the origin of each foot connecting with the fuselage as the origin of the coordinates, the tangent of the fuselage through the origin...

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Abstract

A gait planning method for improving the walking stability of a six-legged robot. The method comprises: moving: lifting two non-adjacent legs, and initiating movement of the two legs along translation paths of the terminal ends of the legs, the translation paths being parallel to a line connecting a center of a body of the robot and a destination point, wherein during moving, there are always four legs contacting the ground and two non-adjacent legs being lifted, and joints of each leg are periodically rotated to corresponding predetermined angles, such that the terminal end of each leg is lifted up and lands on the translation path thereof; and turning: rotating a camera module of a head portion of the robot to a direction directly facing a target destination, and then performing the basic moving operation. By employing the method, the present invention prevents the robot from moving in a staggering, rigid or leaning manner, and enables a smooth and stable gait. In addition, upon rotating, only the head portion needs to be rotated rather than the body, thus enabling the robot to always move in a straight line facing forwards without twisting, and achieving fast change of the forward direction without moving the legs or fast movement toward a specified direction.

Description

Technical field [0001] The invention relates to a hexapod robot, in particular to a gait planning method for improving the walking stability of the hexapod robot. Background technique [0002] Hexapod robot, also called spider robot, is a kind of multi-leg robot. It has the advantages of good stability, high carrying capacity, and strong terrain adaptability. It is the best choice in complex operating environment and has broad application prospects. [0003] At present, the common gait of hexapod robots is mainly triangular gait, that is, the hexapods are divided into two groups alternately separated by three legs. The two sets of joints alternately rise, fall and rotate to realize the robot's forward, turn, and backward actions. . Although the triangular gait can achieve movement, rotation and other movements, not only the movements are monotonous and rigid, the movement has a strong sense of rhythm, and it cannot move smoothly; and because the forward movement of the triangular ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/16B62D57/032
Inventor 孙天齐
Owner QINU BEIJING TECH CO LTD
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