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
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[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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