A hexapod robot foot trajectory planning method based on six-degree polynomial

Abstract

The present invention designs a hexapod robot foot trajectory planning method based on the sixth degree polynomial, aiming at the crawling characteristics of the hexapod robot, and proposes a method including the foot end vertical and ground lifting and falling stages, parabolic swing stage, and stable support stage. Foot trajectory curve; and the foot trajectory curve of each stage is in the body coordinate system, and the foot position, speed, and acceleration are continuous at all times, so as to ensure that in the joint space coordinate system, the angle, angular velocity, and angular acceleration of each joint motor are continuous at all times. The gait of the robot is always stable and continuous during the crawling process. In this method, the user only needs to give the information of crawling speed, crawling period, and sole lifting height, and then an accurate and smooth sole trajectory curve can be obtained, which reduces the possibility of the robot producing sideslip, increases the stability of the body, and improves the stability of the body in the bumps and bumps. On the ground processing, the program is more convenient to realize.

Description

technical field [0001] The invention belongs to the field of robot foot end trajectory planning, and particularly relates to a hexapod robot foot end trajectory planning method based on a hexapod polynomial. Background technique [0002] The hexapod robot has more redundant degrees of freedom in structure, can adapt to more complex terrain, walk in the field with complex road conditions, and complete the transportation tasks in the non-structural environment that the crawler or wheel type cannot complete. This is especially obvious in the seabed environment. Factors such as seabed currents, turbid vision, limited communication, uneven seabed terrain, and silt deposits make it difficult for traditional crawler or wheeled robots to perform underwater tasks. Therefore, the research on hexapod robots has broad application prospects. [0003] In the study of the working method of the hexapod robot, firstly, the kinematics modeling is carried out according to the mechanical struc...

AI Technical Summary

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

Images