Free fault-tolerant gait planning method and device for hexapod robot and storage medium

Abstract

The invention provides a free fault-tolerant gait planning method and device for a hexapod robot and a storage medium. The method comprises the following steps that state information and ground foot falling point information of the hexapod robot are obtained; a swing leg combination and a body gravity center movement step length of the hexapod robot are determined according to the state information; a machine body gravity center track of the hexapod robot and a foot falling area of each swing leg are determined in combination with the machine body gravity center movement step length and the state information; a target foot falling point of each swing leg in the corresponding foot falling area is determined according to the ground foot falling point information; for the swing leg without the target foot falling point or incapable of falling, the swing leg is controlled to suspend at a preset position; and for the swing leg of which the foot can fall at the corresponding target foot falling point, the foot end track of the swing leg is determined according to the state information and the target foot falling point. According to the technical scheme, the gait of the hexapod robot canbe planned when the swing legs have no foot falling points or cannot fall, and the ability of the hexapod robot to pass through the sparse foot falling point terrain is improved.

Description

technical field [0001] The present invention relates to the technical field of robot control, in particular to a free fault-tolerant gait planning method, device and storage medium of a hexapod robot. Background technique [0002] Since wheeled robots need to move on a continuous ground, and footed robots can choose footholds to move in discrete foothold terrains, footed robots have better performance in the face of complex field environments. capacity. Among many legged robots, hexapod robots stand out with their strong environmental adaptability and high fault tolerance. Because they can perform various difficult tasks in some dangerous environments, they are widely used in industries, Aerospace, military and disaster relief and other fields have broad prospects for development. [0003] Gait planning refers to planning the phase relationship between the legs of a legged robot when it walks from one location to another. Existing gait planning methods, when planning the ...

AI Technical Summary

Problems solved by technology

Existing gait planning methods, when planning the gait of a hexapod robot, usually only consider the situation when the hexapod robot passes through the terrain with dense footholds. During the movement, each leg of the hexapod robot can land on foothold

However, in the face of terrain with sparse footholds or when the legs of the hexapod robot fail, the legs of the hexapod robot will have no footholds or the situation of being unable to foothold in the motion cycle. At this time, the existing technology is not very good. the solution

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