A Realization Method of Hexapod Robot Walking

Abstract

The invention discloses a realization method for running of a hexapod robot. The realization method comprises the following steps: a camera module is controlled to rotate to be aligned with a target end point, and a translation path of the body centre of the robot is calculated by virtue of the coordinates of the target end point; a corresponding relationship between a foot coordinate system of each foot and a body coordinate system is established by virtue of a transform algorithm, and a translation path of the tail end of each foot is calculated; through a movement track of the tail end of each foot on the vertical plane of the translation path of the tail end of the foot, a corresponding rotation angle of each joint of the tail end of the foot on different coordinate points of the movement track is obtained, and a preset rotation angle of the joint is configured; and the robot is controlled to lift up two non-adjacent feet, run along the translation path of the tail end of each foot at the beginning, and always keep four feet touching the ground during running, wherein the two non-adjacent feet are lifted up, each joint of each foot is periodically rotated to the corresponding preset angle, and the tail end of each foot is lifted up and down on the translation path thereof. The hexapod robot disclosed by the invention is smooth and stable in gait, the head is rotated only and the body is fixed during steering, and the front surface of the robot is kept always straight forward, without angle distortion.

Description

technical field

[0001] The invention relates to a hexapod robot, in particular to a method for realizing walking 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 triangular gait is actually carri...

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