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A Realization Method of Hexapod Robot Walking

A technology of a hexapod robot and a realization method, which is applied to the realization field of hexapod robot walking, can solve the problems of monotonous and rigid movements, strong sense of rhythm, and inability to keep the front direction of the robot body stable and consistent, and achieves smooth and stable gait, avoiding the The effect of stuttering

Active Publication Date: 2018-01-19
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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  • A Realization Method of Hexapod Robot Walking

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Embodiment Construction

[0039] 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:

[0040] 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;

[0041] 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 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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B62D57/032
CPCB25J9/1602B25J9/1605B25J9/1664B25J9/1669B62D57/032
Inventor 孙天齐
Owner QINU BEIJING TECH CO LTD
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