A walking trajectory planning for a hexapod robot based on body speed and angular velocity control

Abstract

The present invention provides a method for planning the walking trajectory of a hexapod robot based on body speed and angular velocity control. The method mainly includes: S1: determining the walking stride of the hexapod robot according to different target speeds; S2: determining the turning radius of the hexapod robot according to different target angular velocities and in combination with S1; S3: using geometric methods to calculate various parameters required to determine the target landing point based on S1 and S2; S4: determining the position coordinates of the landing point of the hexapod robot in the body coordinate system when it is in the straight, turning and backward states; S5: performing trajectory planning based on a sixth-order polynomial for the joint angles calculated by inverse kinematics. The calculation of the landing point in the present invention is a new calculation method, and its overall trajectory planning method has the advantages of simplicity, high efficiency, and strong universality.

Description

Technical Field

[0001] The present invention relates to the field of robot motion control, and in particular to a walking trajectory planning method for a hexapod robot based on body speed and angular velocity control. Background Art

[0002] Hexapod robots have more active legs than bipedal and quadruped robots, and their structure offers multiple redundant degrees of freedom, allowing for a wider range of locomotion options and greater environmental adaptability. This diverse range of motion gives hexapod robots improved stability, fault tolerance, and load capacity. They can navigate complex terrain, overcome obstacles, and perform transport operations in unstructured environments that wheeled or tracked robots cannot. They hold broad application prospects in areas such as deforestation, mining, underwater construction, the nuclear industry, military transportation and exploration, and planetary exploration.

[0003] With the continuous advancement and development of hexapod robot research, various trajectory planning schemes have emerged, and foothold selection has become an essential and unavoidable part of trajectory planning. Foothold planning is a core research topic in robot motion planning, determining the position of the foothold in body motion planning and gait planning, and directly affecting the overall motion performance of the robot. However, currently, there is no efficient and universal solution for foothold planning.

[0004] This paper introduces a walking trajectory planning method for a hexapod robot based on speed and angular velocity control. It controls the speed and angular velocity of the hexapod robot with the selection of the landing point as the core, proposes a universal, comprehensive and simplified landing point selection scheme, and combines forward and inverse kinematics solution with sixth-order polynomial planning to achieve trajectory planning. Summary of the Invention

[0005] The purpose of the present invention is to address the deficiencies in the prior art and to propose a walking trajectory planning method for a hexapod robot based on body speed and angular velocity control.

[0006] The purpose of the present invention is to achieve the following technical solution: a walking trajectory planning method for a hexapod robot based on body speed and angular velocity control, comprising the following contents:

[0007] S1: Determine the stride length of the hexapod robot when walking according to different target speeds;

[0008] When the gait cycles are the same, the movement stride of the hexapod robot is determined by adjusting the target speed and using s=vt.

[0009] S2: Determine the turning radius of the hexapod robot based on different target angular velocities and in combination with S1;

[0010] By controlling the input target speed and target angular velocity, Determine the turning radius of the robot.

[0011] S3: Calculate the parameters required to determine the target landing point using the geometric method based on S1 and S2;

[0012] F is the initial position (zero position) of one leg of the hexapod robot, O1 is the center of the circle with the radius obtained in step S2, O2 is the origin of the body coordinate system, connect O1F, O1O2, O2F, O1O2 = R, draw a line segment AB perpendicular to O1F, A is the front landing point, B is the rear landing point, and (s is the stride obtained in step S1).

[0013] Through geometric calculation, the parameters required to determine the target landing point are obtained, including the following:

[0014] The coordinates of F in the body coordinate system are [x1, y1, z1];

[0015]

[0016]

[0017]

[0018]

[0019] S4: Determine the position coordinates of the hexapod robot's foot landing point in the body coordinate system when the hexapod robot is moving straight, turning, and moving backward;

[0020] (1) Determination of the landing point of a hexapod robot when it moves straight.

[0021] When the hexapod is moving straight, its target angular velocity is infinitesimal, and the turning radius calculated by S2 is infinite. A, F, B, and C can be considered collinear, so the position coordinates of the foot landing point in the body coordinate system can be determined.

[0022] Landing point A:

[0023] Landing point B:

[0024] (2) Determination of the landing point of the hexapod robot when turning.

[0025] When a hexapod turns, its target angular velocity is controlled, and the turning radius can be determined using S2. AB and CF form a certain angle, and the S3 method can be used to calculate the parameters of the turning state and ultimately determine the position coordinates of the foothold in the body coordinate system.

[0026] When the angular velocity is positive, it means that the hexapod robot turns left:

[0027] Landing point A:

[0028] Landing point B:

[0029] When the angular velocity is negative, it means that the hexapod robot turns right:

[0030] Landing point A:

[0031] Landing point B:

[0032] (3) Determination of the landing point of the hexapod robot when it moves backward.

[0033] When the hexapod robot moves backward, the target speed is opposite to the target speed when moving straight (negative), and the position of the landing point is the same as when moving straight, so the position coordinates of the landing point in the body coordinate system can be determined.

[0034] Landing point A:

[0035] Landing point B:

[0036] S5: Perform trajectory planning using a sixth-order polynomial based on the joint angles calculated by inverse kinematics.

[0037] The inverse kinematics algorithm of the hexapod robot is used to solve the footfall point obtained in step S4, and the joint angles of the three joints at the initial and final states are obtained.

[0038] When the hexapod robot lifts its leg to take a step, the motion trajectory of its foot is a parabola. By controlling the initial and final angles, initial and final angular velocities, and initial and final angular accelerations of the three joints of the hexapod robot, as well as the height of the leg lift, the motion of the hexapod robot's foot is achieved, satisfying the following sixth-order polynomial.

[0039] P=c6t 6 +c5t 5 +c4t 4 +c3t 3 +c2t 2 +c1t+c0 (13)

[0040] Where: P is the joint angle value. Substituting the seven constraints at time t into the sixth-order polynomial can obtain the coefficients c0, c1, K, c6, and then obtain the foot end trajectory.

[0041] The present invention also includes a hexapod robot walking trajectory planning system based on speed and angular velocity control, comprising:

[0042] A stride determination module is used to determine the stride of the hexapod robot when walking according to different target speeds;

[0043] The turning radius determination module is used to determine the turning radius of the hexapod robot based on different target angular velocities and in combination with S1;

[0044] Parameter calculation module, used to calculate various parameters required to determine the target landing point using geometric method based on S1 and S2;

[0045] The foothold position coordinate module is used to determine the position coordinates of the foothold in the body coordinate system when the hexapod robot is moving straight, turning, and moving backward;

[0046] The trajectory planning module is used to perform trajectory planning using a sixth-order polynomial based on the joint angles calculated by inverse kinematics.

[0047] The present invention also includes a six-legged robot walking trajectory planning device based on speed and angular velocity control, comprising a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, it is used to implement the six-legged robot walking trajectory planning method based on speed and angular velocity control described in the present invention.

[0048] The present invention also includes a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the method for planning the walking trajectory of a six-legged robot based on speed and angular velocity control described in the present invention is implemented.

[0049] Compared with the existing technology, the present invention has the following characteristics:

[0050] The present invention realizes the controllability of the important parameters in the movement of the hexapod robot: speed and angular velocity, directly controls its speed and angular velocity, and makes the walking control of the hexapod robot simpler.

[0051] The present invention utilizes known speed and angular velocity to achieve controllable movement capabilities of the hexapod robot during movement, such as stride length and turning radius, thereby improving the controllability of the hexapod robot's walking.

[0052] The footfall calculation method used in this invention takes into account changes in velocity and angular velocity, accurately calculating the footfall point. This novel method is applicable to most situations and has strong universality. Furthermore, the formula allows the footfall point to be determined at any time and independently during exercise, resulting in high efficiency and simplicity.

[0053] The trajectory planning method of the sextic polynomial used in the present invention provides a foot-end trajectory that can be automatically changed and calculated according to different actual constraints, greatly improving the efficiency of the hexapod robot's trajectory planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of a specific implementation of the present invention.

[0055] Figure 2 Schematic diagram of a three-dimensional model of the overall structure of the hexapod robot of the present invention.

[0056] Figure 3 Schematic diagram of the foothold calculation of the present invention.

[0057] Figure 4 The graph shows the change of joint angle over time for leg 1 in a single motion cycle.

[0058] Figure 5 Schematic diagram of the foot trajectory of the hexapod robot when moving straight after trajectory planning.

[0059] Figure 6 It is a structural diagram of the system of the present invention. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] It should be noted that, unless there is any conflict, the features in the following embodiments and implementations may be combined with each other.

[0062] Figure 1 The following is a flow chart of a method for planning the walking trajectory of a hexapod robot based on body speed and angular velocity control according to an embodiment of the present invention. Figure 1 As shown, a walking trajectory planning method for a hexapod robot based on speed and angular velocity control in an embodiment of the present invention may include the following steps:

[0063] S1: Determine the stride length of the hexapod robot when walking according to different target speeds;

[0064] When the gait cycles are the same, the movement stride of the hexapod robot is determined by adjusting the target speed and using s=vt.

[0065] S2: Determine the turning radius of the hexapod robot based on different target angular velocities and in combination with S1;

[0066] By controlling the input target speed and target angular velocity, Determine the turning radius of the robot.

[0067] S3: Calculate the parameters required to determine the target landing point using the geometric method based on S1 and S2;

[0068] F is the initial position (zero position) of one leg of the hexapod robot, O1 is the center of the circle with the radius obtained in step S2, O2 is the origin of the body coordinate system, connect O1F, O1O2, O2F, O1O2 = R, draw a line segment AB perpendicular to O1F, A is the front landing point, B is the rear landing point, and (s is the stride obtained in step S1).

[0069] Through geometric calculation, the parameters required to determine the target landing point are obtained, including the following:

[0070] The coordinates of F in the body coordinate system are [x1, y1, z1];

[0071]

[0072]

[0073]

[0074]

[0075] S4: Determine the position coordinates of the hexapod robot's foot landing point in the body coordinate system when the hexapod robot is moving straight, turning, and moving backward;

[0076] (1) Determination of the landing point of a hexapod robot when it moves straight.

[0077] When the hexapod is moving straight, its target angular velocity is infinitesimal, and the turning radius calculated by S2 is infinite. A, F, B, and C can be considered collinear, so the position coordinates of the foot landing point in the body coordinate system can be determined.

[0078] Landing point A:

[0079] Landing point B:

[0080] (2) Determination of the landing point of the hexapod robot when turning.

[0081] When a hexapod turns, its target angular velocity is controlled, and the turning radius can be determined using S2. AB and CF form a certain angle, and the S3 method can be used to calculate the parameters of the turning state and ultimately determine the position coordinates of the foothold in the body coordinate system.

[0082] When the angular velocity is positive, it means that the hexapod robot turns left:

[0083] Landing point A:

[0084] Landing point B:

[0085] When the angular velocity is negative, it means that the hexapod robot turns right:

[0086] Landing point A:

[0087] Landing point B: (3) Determination of the landing point of the hexapod robot when it moves backward.

[0088] When the hexapod robot moves backward, the target speed is opposite to the target speed when moving straight (negative), and the position of the landing point is the same as when moving straight, so the position coordinates of the landing point in the body coordinate system can be determined.

[0089] Landing point A:

[0090] Landing point B:

[0091] S5: Perform trajectory planning using a sixth-order polynomial based on the joint angles calculated by inverse kinematics.

[0092] The inverse kinematics algorithm of the hexapod robot is used to solve the footfall point obtained in step S4, and the joint angles of the three joints at the initial and final states are obtained.

[0093] When the hexapod robot lifts its leg to take a step, the motion trajectory of its foot is a parabola. By controlling the initial and final angles, initial and final angular velocities, and initial and final angular accelerations of the three joints of the hexapod robot, as well as the height of the leg lift, the motion of the hexapod robot's foot is achieved, satisfying the following sixth-order polynomial.

[0094] P=c6t 6 +c5t5 +c4t 4 +c3t 3 +c2t 2 +c1t+c0 (26)

[0095] Where: P is the joint angle value. Substituting the seven constraints at time t into the sixth-order polynomial can obtain the coefficients c0, c1, K, c6, and then obtain the foot end trajectory.

[0096] The present invention also provides a computer-readable storage medium, which stores a computer program, which can be used to execute the above Figure 1 A walking trajectory planning method for a hexapod robot based on speed and angular velocity control is provided.

[0097] The present invention also provides Figure 6 The one shown corresponds to Figure 1 A schematic structural diagram of a six-legged robot walking trajectory planning system based on speed and angular velocity control according to the method of the present invention. Figure 6 As mentioned above, at the hardware level, the walking trajectory planning system of a six-legged robot based on speed and angular velocity control includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and of course may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it to achieve the above Figure 1 Of course, in addition to software implementation, the present invention does not exclude other implementation methods, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0098] Improvements to a technology can be clearly distinguished as either hardware improvements (for example, improvements to circuit structures such as diodes, transistors, and switches) or software improvements (improvements to process flows). However, with technological advancements, many process flow improvements today can now be considered direct improvements to hardware circuit structures. Designers almost always program the improved process flow into the hardware circuit to obtain the corresponding hardware circuit structure. Therefore, it cannot be said that a process flow improvement cannot be implemented using a hardware module. For example, a programmable logic device (PLD), such as a field programmable gate array (FPGA), is an integrated circuit whose logical function is determined by user programming. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to hire a chip manufacturer to design and manufacture a dedicated integrated circuit chip. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly done using "logic compiler" software. This is similar to the software compiler used when developing programs. Before compilation, the original code must also be written in a specific programming language, called a hardware description language (HDL). There is not just one HDL, but many, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art will also understand that by simply programming the method flow in one of these hardware description languages ​​and then programming it into an integrated circuit, a hardware circuit that implements the logic method flow can be easily obtained.

[0099] The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that in addition to implementing the controller in a purely computer-readable program code format, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the devices for implementing various functions can be considered as both software modules that implement the method and structures within the hardware component.

[0100] The systems, devices, modules, or units described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0101] For the convenience of description, the above device is described as being divided into various units according to their functions. Of course, when implementing the present invention, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0102] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0104] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0107] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0108] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0110] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] The present invention may be described in the general context of computer-executable instructions, such as program modules, executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, and the like that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media, including storage devices.

[0112] The various embodiments of the present invention are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so its description is relatively simple. For relevant portions, refer to the description of the method embodiment.

[0113] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. It will be apparent to those skilled in the art that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are intended to be included within the scope of the claims of the present invention.

Claims

1. A walking trajectory planning method for a hexapod robot based on body speed and angular velocity control, characterized in that: include: S1: Determine the stride length of the hexapod robot when walking according to different target speeds; S2: Determine the turning radius of the hexapod robot based on different target angular velocities and in combination with S1; S3: Calculate the parameters required to determine the target landing point using the geometric method based on S1 and S2; S4: Determine the position coordinates of the hexapod robot's foot landing point in the body coordinate system when the hexapod robot is moving straight, turning, and moving backward; specifically, it includes: B1: Determine the landing point of the hexapod robot when it moves straight; B2: Determine the landing point of the hexapod robot when turning; B3: Determine the landing point of the hexapod robot when it moves backward; Step B1 specifically includes: When the hexapod robot moves straight, its target angular velocity is infinitesimal, and the turning radius obtained by S2 is infinite. A, F, B, and C can be considered collinear, so the position coordinates of the foot landing point in the body coordinate system can be determined. Landing point A: Landing point B: Step B2 specifically includes: When the hexapod robot turns, its target angular velocity is controlled, and the turning radius can be obtained through S2; AB and CF present a certain angle, and the S3 method is used to obtain the various parameters in the turning state, and finally determine the position coordinates of the landing point in the body coordinate system; When the angular velocity is positive, it means that the hexapod robot turns left: Landing point A: Landing point B: When the angular velocity is negative, it means that the hexapod robot turns right: Landing point A: Landing point B: Step B3 specifically includes: When the hexapod robot moves backward, the target speed is opposite to the target speed when moving straight, and the position of the foot landing point is the same as when moving straight, so the position coordinates of the foot landing point in the body coordinate system can be determined; Landing point A: Landing point B: S5: Perform trajectory planning using a sixth-order polynomial based on the joint angles calculated by inverse kinematics.

2. The walking trajectory planning method of a hexapod robot based on body speed and angular velocity control according to claim 1, characterized in that: S1 specifically includes: When the gait cycles are the same, the movement stride of the hexapod robot is determined by adjusting the target speed and using s=vt.

3. The walking trajectory planning method of a hexapod robot based on body speed and angular velocity control according to claim 1, characterized in that: S2 specifically includes: By controlling the input target speed and target angular velocity, Determine the turning radius of the robot.

4. The walking trajectory planning method of a hexapod robot based on body speed and angular velocity control according to claim 1, characterized in that: S3 specifically includes: A1: F is the initial position of one leg of the hexapod robot, O1 is the center of the circle with the radius obtained in step S2, O2 is the origin of the body coordinate system, connect O1F, O1O2, O2F, O1O2 = R, draw a line segment AB perpendicular to O1F, A is the front landing point, B is the rear landing point, and s is the stride obtained in step S1; A2: Through geometric calculation, the parameters required to determine the target landing point are obtained, including the following: The coordinates of F in the body coordinate system are [x1, y1, z1]; O2F: ∠O1O2F: O1F: ∠BFC:

5. The walking trajectory planning method of a hexapod robot based on body speed and angular velocity control according to claim 1, characterized in that: S5 specifically includes: Through the inverse kinematics algorithm of the hexapod robot, the foot landing point obtained in step S4 is solved by inverse kinematics to obtain the joint angles of the three joints at the initial and final states; When the hexapod robot lifts its legs to stride, the motion trajectory of its foot is a parabola. By controlling the initial and final angles, initial and final angular velocities, and initial and final angular accelerations of the three joints of the hexapod robot, as well as the leg lift angle, the motion of the hexapod robot's foot is achieved, satisfying the following sixth-order polynomial: P=c6t 6 +c5t 5 +c4t 4 +c3t 3 +c2t 2 +c1t+c0 (13) Where: P is the joint angle value. Substituting the seven constraints at time t into the sixth-order polynomial can obtain the coefficients c0, c1, ..., c6, and then obtain the foot end trajectory.

6. A walking trajectory planning system for a hexapod robot based on body speed and angular velocity control, characterized in that: include: A stride determination module is used to determine the stride of the hexapod robot when walking according to different target speeds; The turning radius determination module is used to determine the turning radius of the hexapod robot based on different target angular velocities and in combination with S1; Parameter calculation module, used to calculate various parameters required to determine the target landing point using geometric method based on S1 and S2; The foothold position coordinate module is used to determine the position coordinates of the foothold in the body coordinate system when the hexapod robot is moving straight, turning, and moving backward. It specifically includes: B1: Determine the landing point of the hexapod robot when it moves straight; B2: Determine the landing point of the hexapod robot when turning; B3: Determine the landing point of the hexapod robot when it moves backward; Step B1 specifically includes: When the hexapod robot moves straight, its target angular velocity is infinitesimal, and the turning radius obtained by S2 is infinite. A, F, B, and C can be considered collinear, so the position coordinates of the foot landing point in the body coordinate system can be determined. Landing point A: Landing point B: Step B2 specifically includes: When the hexapod robot turns, its target angular velocity is controlled, and the turning radius can be obtained through S2; AB and CF present a certain angle, and the S3 method is used to obtain the various parameters in the turning state, and finally determine the position coordinates of the landing point in the body coordinate system; When the angular velocity is positive, it means that the hexapod robot turns left: Landing point A: Landing point B: When the angular velocity is negative, it means that the hexapod robot turns right: Landing point A: Landing point B: Step B3 specifically includes: When the hexapod robot moves backward, the target speed is opposite to the target speed when moving straight, and the position of the foot landing point is the same as when moving straight, so the position coordinates of the foot landing point in the body coordinate system can be determined; Landing point A: Landing point B: The trajectory planning module is used to perform trajectory planning using a sixth-order polynomial based on the joint angles calculated by inverse kinematics.

7. A walking trajectory planning device for a hexapod robot based on body speed and angular velocity control, characterized in that: The invention comprises a memory and one or more processors, wherein the memory stores executable code, and when the one or more processors execute the executable code, they are used to implement a walking trajectory planning method for a hexapod robot based on body speed and angular velocity control as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A program is stored thereon, and when the program is executed by the processor, a walking trajectory planning method for a hexapod robot based on body speed and angular velocity control according to any one of claims 1 to 5 is implemented.

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