Method, device and storage medium for free fault-tolerant gait planning of hexapod robot

Abstract

The invention provides a free fault-tolerant gait planning method, device and storage medium of a hexapod robot. The method includes the following steps: acquiring state information of the hexapod robot and ground foothold information; determining the swing of the hexapod robot according to the state information The combination of legs and the moving step of the center of gravity of the body; combined with the moving step of the center of gravity of the body and the state information, respectively determine the trajectory of the body center of gravity of the hexapod robot and the landing area of ​​each swinging leg; The target foothold point in the foot area; for the swing leg that has no target foothold point or cannot land, control the swing leg to hover at the predetermined position; for the swing leg that can land on the corresponding target foothold point, according to the state information and the target foothold point to determine the trajectory of the foot end of the swinging leg. The technical scheme of the present invention can plan the gait of the hexapod robot when the swing leg has no foothold or cannot foothold, and improves the ability of the hexapod robot to pass through the terrain with sparse footholds.

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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