Hexapod robot foot end trajectory planning method based on hexapod polynomial

Abstract

The invention designs a hexapod robot foot end trajectory planning method based on a hexapod polynomial. Aiming at the crawling characteristics of a hexapod robot, the invention designs and proposes a foot end trajectory curve comprising a foot end vertical and ground lifting and falling stage, a parabola swinging stage and a stable supporting stage; and foot end pose, speed and acceleration moments of the foot end trajectory curve in each stage are continuous under a body coordinate system, so that the angle, the angular speed and the angular acceleration moments of each joint motor are continuous under a joint space coordinate system, and the gait of the robot is always kept stable and continuous in the crawling process. According to the method, a user only needs to give information of the crawling speed, the crawling period and the foot bottom lifting height, an accurate and smooth foot bottom track curve can be obtained, the possibility of sideslip of the robot is reduced, the stability of the robot body is improved, and program implementation is convenient on the aspect of concave-convex ground treatment.

Description

technical field [0001] The invention belongs to the field of robot foot trajectory planning, in particular to a hexapod robot foot trajectory planning method based on a sixth-order polynomial. Background technique [0002] Hexapod robots have more redundant degrees of freedom in structure, can adapt to more complex terrain, walk in the field with complex road conditions, and complete transportation tasks in non-structural environments that cannot be completed by crawler or wheeled robots. This is especially evident in the seabed environment. Factors such as seabed ocean currents, turbidity of vision, limited communication, uneven seabed topography, and silt deposits make traditional crawler or wheeled robots difficult to perform underwater operations. Therefore, the research on the hexapod robot has broad application prospects. [0003] In the research of the working method of the hexapod robot, firstly, the kinematics modeling is carried out according to the mechanical str...

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Problems solved by technology

[0006] The technical problem solved by the present invention is: in order to solve the defect that the motion trajectory planning method of the hexapod robot in the prior art cannot keep the body stable on the uneven road surface and may damage the feet of the legs, the present invention designs a robot based on six Hexapod robot foot trajectory planning method based on subpolynomial

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