A double-gait hexapod robot and a double-gait hexapod robot crawling method

Abstract

The application relates to a double-gait hexapod robot and a double-gait hexapod robot crawling method, wherein the double-gait hexapod robot comprises a robot body and a running control module, the robot body comprises a trunk, two front legs, two middle legs, two back legs and a sliding part, the two middle legs are connected to the trunk through the sliding part and can slide between the front legs and the back legs through the sliding part, the running control module is electrically connected to the robot body, and the running control module comprises a gait analysis module, a structure adjustment module, a parameter calculation module and a running driving module. Compared with the prior art, the application determines the required gait through the running control module, then changes the position of the middle legs through the sliding part, makes the middle legs move together with the front legs or the back legs, realizes the walking of the hexapod robot in a quadruped gait, and makes the double-gait hexapod robot have the advantages of the triangle gait and the quadruped gait, and can cope with more diverse environments.

Description

Technical Field

[0001] This invention relates to the field of biomimetic robot technology, and in particular to a bigastrically gaited hexapod robot and a method for the bigastrically gaited hexapod robot to crawl. Background Technology

[0002] "Bionic robots" refer to robots that mimic biological organisms and perform tasks based on their biological characteristics. Developing bionic robots can compensate for the severe shortage of labor in specialized operations. Hexapod robots are a common type of bionic robot. They only require discrete point contacts with the ground during movement, resulting in less environmental damage and strong adaptability to rugged terrain.

[0003] Currently, most hexapod robots adopt insect-inspired structures. Therefore, the triangular gait that mimics the walking posture of hexapod insects is the typical gait for hexapod walking robots. The hexapod gait can maintain a low center of gravity, does not require coordination of longitudinal movements, is easy to stabilize, and can achieve point-to-point turning, so this walking scheme is widely used.

[0004] However, the triangular gait is not as fast as the quadrupedal gait of quadrupedal mammals when sprinting. Furthermore, the triangular gait cannot perform some movement patterns of quadrupedal gait, such as trotting and hoof-walking, making hexapods unsuitable for special scenarios requiring rapid sprinting. Therefore, there is an urgent need for a hexapod that can move in both triangular and quadrupedal gaits. Summary of the Invention

[0005] In view of this, it is necessary to provide a bigamous hexapod robot and a bigamous hexapod robot crawling method to solve the problem of how to enable a hexapod robot to move in both triangular and quadrupedal gaits.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides a bigadic hexapod robot, comprising a robot body and a walking control module. The robot body includes a torso, two front legs, two middle legs, two hind legs, and sliding parts. The two front legs are movably connected to both sides of the torso, the two hind legs are movably connected to both sides of the torso, and the two sliding parts are movably connected to both sides of the torso. The sliding parts are used to slide between the front legs and the hind legs on the same side. The two middle legs are movably connected to the two sliding parts.

[0008] The movement control module is electrically connected to the robot body. The movement control module includes a gait analysis module, a structure adjustment module, a parameter calculation module, and a movement drive module, wherein:

[0009] The gait analysis module is used to acquire road condition information and obtain a target gait based on the road condition information. The target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits.

[0010] The structural adjustment module is used to send a movement signal to the sliding part according to the target gait to adjust the position of the middle leg relative to the torso;

[0011] The parameter calculation module is used to obtain travel control parameters based on the travel road condition information and the target gait.

[0012] The travel drive module is used to send signals to the robot body according to the travel control parameters to drive the robot body to walk.

[0013] Furthermore, the torso includes two slide rails, which are respectively connected to both sides of the torso. The slide rails extend along the front leg toward the hind leg, and the sliding part is slidably connected to the slide rails.

[0014] Furthermore, one end of the slide rail extends to the middle position between the foreleg and the hind leg, and the other end of the slide rail extends to the connection between the hind leg and the torso.

[0015] In a second aspect, the present invention also provides a method for crawling a bigamous hexapod robot, applied to a bigamous hexapod robot as described in any of the preceding claims, the method comprising:

[0016] Acquire road condition information and obtain a target gait based on the road condition information. The target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits.

[0017] Based on the target gait, a movement signal is sent to the sliding part to adjust the position of the middle leg relative to the torso;

[0018] Based on the road condition information and the target gait, the travel control parameters are obtained;

[0019] Based on the travel control parameters, a signal is sent to the robot body to drive the robot body to walk.

[0020] Furthermore, the step of sending a movement signal to the sliding part to adjust the position of the middle leg relative to the torso based on the target gait includes:

[0021] If the target gait is a fixed-point turning gait or a triangular gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the middle position between the front leg and the hind leg;

[0022] If the target gait is a quadrupedal gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the connection point between the hind leg and the torso. The foreleg alone constitutes a quadrupedal leg, and the middle leg and the hind leg located on the same side of the torso together constitute a quadrupedal leg.

[0023] Furthermore, the travel control parameters include joint rotation angles; obtaining the travel control parameters based on the travel road condition information and the target gait includes:

[0024] If the target gait is a quadrupedal gait, then:

[0025] Based on the road condition information and the type of quadrupedal gait, a foot movement model for each quadrupedal leg is obtained.

[0026] Based on the foot movement model, the target position of the foot end of each quadrupedal leg is obtained;

[0027] Based on the target position of the foot, the joint rotation angle of each quadrupedal leg is obtained.

[0028] Furthermore, the step of obtaining the foot movement model of each quadruped leg based on the road condition information and the type of quadruped gait includes:

[0029] Based on the aforementioned road condition information, the gait cycle, cadence, and ground clearance are obtained;

[0030] Based on the type of quadrupedal gait, the target duty cycle and the phase difference of each quadrupedal leg are obtained;

[0031] Establish directional velocity constraints;

[0032] Based on the directional velocity constraints, the gait period, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadrupedal leg, the foot movement model of each quadrupedal leg is obtained.

[0033] Furthermore, the step of obtaining the foot-end motion model of each quadruped leg based on the directional velocity constraint, the gait period, the stride frequency, the ground clearance, the target duty cycle, and the phase difference of each quadruped leg includes:

[0034] Based on the strength characteristics of the robot body, and based on the gait cycle, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadruped leg, an optimized trajectory function for the foot end of each quadruped leg is established. The independent variable of the optimized trajectory function is time, and the dependent variable is the acceleration of the quadruped leg.

[0035] Based on the foot-end optimized trajectory function and the directional velocity constraints, the foot-end motion model of each quadrupedal leg is obtained.

[0036] Furthermore, the quadrupedal gait includes a crawling gait, a trotting gait, and a shuffling gait. The target duty cycle corresponding to the crawling gait is greater than or equal to 0.75 and less than 1. The target duty cycle corresponding to the trotting gait is greater than or equal to 0.5 and less than 0.75. The target duty cycle corresponding to the shuffling gait is greater than or equal to 0.5 and less than 0.75.

[0037] Furthermore, the phase differences of each quadrupedal leg corresponding to the crawling gait are 0, 0.75, 0.25 and 0.5, respectively; the phase differences of each quadrupedal leg corresponding to the trotting gait are 0, 0.5, 0 and 0.5, respectively; and the phase differences of each quadrupedal leg corresponding to the shuffling gait are 0, 0, 0.5 and 0.5, respectively.

[0038] This invention provides a bigamous hexapod robot and a method for crawling with the bigamous hexapod robot. The bigamous hexapod robot includes a robot body and a movement control module. The robot body includes a torso, two front legs, two middle legs, two hind legs, and a sliding part. The two front legs and two hind legs are movably connected to the torso. The two middle legs are connected to the torso via the sliding part and can slide between the front and hind legs. The movement control module is electrically connected to the robot body and includes a gait analysis module and a structure adjustment module. The invention comprises a block, a parameter calculation module, and a movement drive module. The movement control module first acquires road condition information and, based on this information, determines a target gait, including a point-turning gait, a triangular gait, and various quadrupedal gaits. Then, based on the target gait, it sends a movement signal to the sliding part to adjust the position of the middle leg relative to the torso. Next, based on the road condition information and the target gait, it obtains movement control parameters. Finally, based on these parameters, it sends a signal to the robot body to drive the robot to walk. Compared to existing technologies, this invention determines the required gait through the movement control module and then uses the sliding part to allow the middle leg to change position, enabling it to move in conjunction with the front or hind legs. This allows the hexapod robot to walk with a quadrupedal gait, combining the advantages of both triangular and quadrupedal gaits, and enabling it to cope with more diverse environments. Attached Figure Description

[0039] Figure 1 This is a system architecture diagram of an embodiment of the bigadic hexapod robot provided by the present invention;

[0040] Figure 2This is a schematic diagram of the robot body in one embodiment of the bigadic hexapod robot provided by the present invention;

[0041] Figure 3 This is a flowchart illustrating an embodiment of the bigait hexapod crawling method provided by the present invention.

[0042] Figure 4 This is a schematic diagram of the triangular gait of an embodiment of the bigait hexapod robot provided by the present invention;

[0043] Figure 5 This is a schematic diagram of the fixed-point turning gait of an embodiment of the bigastrically gaited hexapod robot provided by the present invention;

[0044] Figure 6 for Figure 3 A flowchart of a method according to an embodiment of step S303;

[0045] Figure 7 for Figure 6 A flowchart of a method according to an embodiment of step S601. Detailed Implementation

[0046] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0047] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0048] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0049] The present invention enables the middle leg of a hexapod robot to change position by means of a sliding part, thereby forming a structure similar to a quadruped robot, and thus enabling the hexapod robot to achieve the gait of a quadruped robot.

[0050] This invention provides a bigastrically gaited hexapod robot and a method for the bigastrically gaited hexapod robot to crawl, which will be described below.

[0051] Combination Figures 1-2As shown, a specific embodiment of the present invention discloses a bigamous hexapod robot, including a robot body 100 and a movement control module 200. The robot body 100 includes a torso 110, two front legs 120, two middle legs 130, two hind legs 140, and sliding parts 150. The two front legs 120 are movably connected to both sides of the torso 110, the two hind legs 140 are movably connected to both sides of the torso 110, and the two sliding parts 150 are movably connected to both sides of the torso 110. The sliding parts 150 are used to slide between the front legs 120 and the hind legs 140 on the same side, and the two middle legs 130 are movably connected to the two sliding parts 150.

[0052] The movement control module 200 is electrically connected to the robot body 100. The movement control module 200 includes a gait analysis module 210, a structure adjustment module 220, a parameter calculation module 230, and a movement drive module 240, wherein:

[0053] The gait analysis module 210 is used to acquire road condition information and obtain a target gait based on the road condition information. The target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits.

[0054] The structure adjustment module 220 is used to send a movement signal to the sliding part 150 according to the target gait to adjust the position of the middle leg 130 relative to the torso 110;

[0055] The parameter calculation module 230 is used to obtain travel control parameters based on the travel road condition information and the target gait.

[0056] The travel drive module 240 is used to send signals to the robot body 100 according to the travel control parameters to drive the robot body 100 to walk.

[0057] Compared to existing technologies, this invention determines the required gait through the walking control module 200, and then uses the sliding part 150 to change the position of the middle leg 130, so that the middle leg 130 can move together with the front leg 120 or the hind leg 140, realizing the hexapod robot walking in a quadrupedal gait. This allows the bigamous hexapod robot to combine the advantages of triangular gait and quadrupedal gait, and to cope with more diverse environments.

[0058] In a preferred embodiment, the torso 110 includes two slide rails 111, which are respectively connected to both sides of the torso 110. The slide rails 111 extend along the front leg 120 toward the hind leg 140, and the sliding part 150 is slidably connected to the slide rails 111.

[0059] The aforementioned sliding part 150 can move along the slide rail 111. The slide rail 111 can be any existing structure that can restrict the sliding of the block, such as an outwardly convex track or an inwardly concave groove. Similarly, the sliding part 150 can also be any existing structure that can slide along the corresponding slide rail 111, such as a slider or a roller. It is understood that the torso 110 may not have a structure such as the slide rail 111, and the sliding part 150 can also be any structure that can achieve displacement on the torso 110. For example, the sliding part 150 is connected to the torso 110 through a telescopic link, and the sliding part 150 can slide relative to the torso 110 by extending or retracting the link.

[0060] In a preferred embodiment, one end of the slide rail 111 extends to the midpoint between the front leg 120 and the hind leg 140, and the other end extends to the connection between the hind leg 140 and the torso 110. When the sliding part 150 is located at one end of the slide rail 111, the middle leg 130 is located at the exact midpoint between the front leg 120 and the hind leg 140, at which point the robot body 100 can achieve triangular gait walking. When the sliding part 150 is located at the other end of the slide rail 111, the middle leg 130 and the hind leg 140 are positioned opposite each other, and can be considered as moving synchronously with the same leg. At this point, the robot body 100 can be considered to have only four legs and can achieve quadrupedal gait walking.

[0061] Understandably, in practice, one end of the slide rail 111 can extend to the connection between the front leg 120 and the torso 110, and the other end of the slide rail 111 can extend to the middle position between the front leg 120 and the hind leg 140, so that the middle leg 130 and the front leg 120 form the same moving leg. In this embodiment, the combination of the middle leg 130 and the hind leg 140 is more in line with actual biological structures, and at the same time can improve the load capacity of the robot body 100.

[0062] Combination Figure 3 As shown, to better illustrate the above-described bigastrically gaited hexapod robot, the present invention also provides a crawling method for a bigastrically gaited hexapod robot, applicable to the bigastrically gaited hexapod robot described in any of the above embodiments, the method comprising:

[0063] S301. Obtain road condition information and, based on the road condition information, obtain a target gait, wherein the target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits;

[0064] S302. Based on the target gait, send a movement signal to the sliding part to adjust the position of the middle leg relative to the torso;

[0065] S303. Based on the road condition information and the target gait, obtain the travel control parameters;

[0066] S304. Based on the travel control parameters, send a signal to the robot body to drive the robot body to walk.

[0067] It is understandable that in step S301, the method of determining the target gait based on the road condition information can be flexibly formulated according to the specific specifications of the robot body and the specific application scenario of the bigait hexapod robot. These are all existing technologies that can be designed by those skilled in the art, so they will not be elaborated on in this article.

[0068] In a preferred embodiment, step S302, which involves sending a movement signal to the sliding part to adjust the position of the midleg relative to the torso based on the target gait, specifically includes:

[0069] If the target gait is a fixed-point turning gait or a triangular gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the middle position between the front leg and the hind leg;

[0070] If the target gait is a quadrupedal gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the connection point between the hind leg and the torso. The foreleg alone constitutes a quadrupedal leg, and the middle leg and the hind leg located on the same side of the torso together constitute a quadrupedal leg.

[0071] The principles and technical effects of the above steps are the same as those in the previous embodiments, so they will not be explained further here.

[0072] In this embodiment, the operational diagrams of the bigastrical hexapod robot in triangular gait and fixed-point turning gait are shown below. Figure 4 and Figure 5 As shown, how to achieve triangular gait and fixed-point turning gait is a current technology, so it will not be explained in detail in this article.

[0073] Combination Figure 6 As shown, in a preferred embodiment, the movement control parameters include joint rotation angles; step S303 above, obtaining the movement control parameters based on the movement road condition information and the target gait, specifically includes:

[0074] If the target gait is a quadrupedal gait, then:

[0075] S601. Based on the road condition information and the type of quadrupedal gait, obtain the foot movement model of each quadrupedal leg.

[0076] S602. Based on the foot movement model, obtain the target position of the foot end of each quadrupedal leg;

[0077] S603. Based on the target position of the foot, obtain the joint rotation angle of each quadrupedal leg.

[0078] Specifically, in combination Figure 7 As shown, in a preferred embodiment, step S601, obtaining the foot movement model of each quadruped leg based on the road condition information and the type of quadruped gait, specifically includes:

[0079] S701. Based on the road condition information, obtain the gait cycle, cadence, and ground clearance.

[0080] S702. Based on the type of quadrupedal gait, obtain the target duty cycle and the phase difference of each quadrupedal leg.

[0081] S703. Establish directional velocity constraints;

[0082] S704. Based on the directional velocity constraints, the gait period, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadrupedal leg, the foot movement model of each quadrupedal leg is obtained.

[0083] In a preferred embodiment, the quadrupedal gait includes a crawling gait, a trotting gait, and a shuffling gait. The target duty cycle corresponding to the crawling gait is greater than or equal to 0.75 and less than 1. The target duty cycle corresponding to the trotting gait is greater than or equal to 0.5 and less than 0.75. The target duty cycle corresponding to the shuffling gait is greater than or equal to 0.5 and less than 0.75.

[0084] In a preferred embodiment, the phase differences of each quadrupedal leg corresponding to the crawling gait are 0, 0.75, 0.25 and 0.5, respectively; the phase differences of each quadrupedal leg corresponding to the trotting gait are 0, 0.5, 0 and 0.5, respectively; and the phase differences of each quadrupedal leg corresponding to the shuffling gait are 0, 0, 0.5 and 0.5, respectively.

[0085] Understandably, the duty cycle and phase difference mentioned above can be flexibly adjusted according to the actual situation.

[0086] Furthermore, in a preferred embodiment, step S704, based on the directional velocity constraint, the gait period, the stride frequency, the ground clearance, the target duty cycle, and the phase difference of each quadrupedal leg, obtains the foot-end motion model of each quadrupedal leg, specifically including:

[0087] Based on the strength characteristics of the robot body, and based on the gait cycle, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadruped leg, an optimized trajectory function for the foot end of each quadruped leg is established. The independent variable of the optimized trajectory function is time, and the dependent variable is the acceleration of the quadruped leg.

[0088] Based on the foot-end optimized trajectory function and the directional velocity constraints, the foot-end motion model of each quadrupedal leg is obtained.

[0089] The present invention also provides a more detailed embodiment to more clearly illustrate the above steps S701~S704:

[0090] First, this embodiment explains how to determine the target duty cycle and phase difference under each quadrupedal gait.

[0091] The crawling gait is a slow-moving gait of quadrupeds, in which at any given moment three legs are in the support phase and one leg is in the swing phase. Each time, one leg is lifted and then swings forward in an alternating sequence: left forward, right backward, right forward, left backward. The duty cycle β is defined as the ratio of the time each leg (i.e., the four sets of moving legs) is in contact with the ground to the time of a complete gait cycle. A complete gait cycle is defined as T. s T m Let β = Ts / T be the periods of the support phase and the oscillation phase, respectively. When the duty cycle is 0.75 ≤ β < 1, at any given time, at least three legs are in the support phase. Since it is a regular gait, the motion pattern of one cycle is the same, and the phase difference of the four legs is ( 1. 2. 3. 4) They are respectively:

[0092] 1=0, 2= +0.5, 3= , 4 = 0.5;

[0093] in, As the reference phase, in this embodiment, the critical state of the crawling gait is taken as β=0.75 and... =0.25, with only three legs serving as the support phase at any given time, allowing the robot to move quickly without any sense of pause.

[0094] The trotting gait, also known as the focused trotting gait, is the most common quadrupedal gait due to its wide speed range, high stability, and high energy efficiency. It is characterized by a two-beat gait, where only the two diagonally opposite legs perform the swing and support movements at any given time. Since the trotting gait is also a regular gait, the phase differences between each leg are as follows:

[0095] 1=0, 2 = 0.5 3=0, 4 = 0.5;

[0096] Assuming that when β>0.5, all four legs will be in the support phase, the balance posture of the four legs can be adjusted. However, this will cause the movement to stop and the speed will not reach the desired value. Therefore, in this embodiment, the duty cycle β=0.5 is selected. In this way, the opposite legs of the robot body can directly change from the swing phase to the support phase, and alternately swing to achieve the optimization of balance and speed.

[0097] The characteristic of the slouching gait is that both legs on the same side move simultaneously, with the left foreleg and hindleg in the swing phase while the right leg is in the support phase. This gait is commonly seen in animals moving relaxed in a safe environment. The phase difference in this gait is:

[0098] 1=0, 2=0, 3 = 0.5 4 = 0.5;

[0099] In this embodiment, β=0.5 is used. At this time, the slippery gait will not have all four feet touching the ground or being airborne. At any given time, only one side is in the support phase or swing phase. This gait has poor balance and is also limited in speed, so it is generally used for slow movement.

[0100] Next, this embodiment describes how to determine the foot movement model and gait control parameters.

[0101] Foot trajectory planning is a prerequisite for quadrupedal leg control to reach the target point. The variables in the functional equation of the foot trajectory (i.e., the foot motion model) are determined based on the target position. Then, the foot coordinates (i.e., the target position of the foot) are obtained through the equation. The obtained coordinates, which change as a function of time, are used to obtain the angle required for the quadrupedal joint rotation (i.e., the joint rotation angle) through inverse kinematics. Periodic movement is achieved through a loop program, thereby accurately realizing the kinematic control of the legs.

[0102] To achieve an ideal gait model, foot trajectory planning must ensure smooth walking, minimal impact at joints, zero impact during leg lift and landing, and a smooth foot trajectory.

[0103] Define the horizontal direction as X, the vertical direction as Z, S as the step frequency, H as the height above the ground, Tm as the swing phase time, and T as the gait completion time (i.e., the gait period). Then define the directional velocity constraints:

[0104] The directional velocity constraints in the X and Z directions are as follows:

[0105] (1) Horizontal X direction

[0106] Position constraints: X(0)=0, X(2T)=S, X(T)=0;

[0107] Speed ​​constraints: (0)=0, ((2T)=0, (T)=0;

[0108] Acceleration constraints: (0)=0, (2T)=0, (T)=0.

[0109] (2) Vertical Z direction

[0110] Position constraints: Z(0)=0, Z(4T)=H, Z(t)=0, 2T≤t≤T;

[0111] Speed ​​constraints: (0)=0, ((4T)=0, (t)=0, 2T≤t≤T;

[0112] Acceleration constraints: (0)=0, (4T)=0, (T)=0, 2T≤t≤T.

[0113] (3) The trajectory function of the composite cycloidal phase under directional velocity constraints (i.e., one of the foot motion models) is as follows:

[0114]

[0115] Furthermore, since the equation of this trajectory is at t=0 and t=T m The acceleration can change abruptly, resulting in significant forces upon contact and leg lift, which contradicts our requirements. Therefore, based on the robot's strength characteristics, an optimized cycloidal trajectory equation is adopted, making its acceleration function (i.e., the optimized foot trajectory function) as follows:

[0116]

[0117] Integrating this function yields the velocity function. The equation derived from the velocity constraint is then integrated to obtain the displacement function. Based on the displacement constraint, this displacement function is expressed as a piecewise function (i.e., ultimately yielding another preferred foot movement model).

[0118]

[0119] The above λ is an adjustment coefficient, and its value is related to the velocity change in the Z-axis direction. The larger the value of λ, the more frequent the velocity change. This can be obtained through MATLAB simulation. When λ=4, the trajectory is the smoothest, and the impact force on the robot body is the smallest.

[0120] Furthermore, in a preferred embodiment, step S304 involves sending signals to the robot body according to the travel control parameters to drive the robot body to walk. Specifically, sending joint rotation angles to the servos at the joints of the front, middle, and hind legs completes the robot body's walking. The specific process is prior art and will not be elaborated upon herein.

[0121] This invention provides a bigamous hexapod robot and a method for crawling with the bigamous hexapod robot. The bigamous hexapod robot includes a robot body and a movement control module. The robot body includes a torso, two front legs, two middle legs, two hind legs, and a sliding part. The two front legs and two hind legs are movably connected to the torso. The two middle legs are connected to the torso via the sliding part and can slide between the front and hind legs. The movement control module is electrically connected to the robot body and includes a gait analysis module and a structure adjustment module. The invention comprises a block, a parameter calculation module, and a movement drive module. The movement control module first acquires road condition information and, based on this information, determines a target gait, including a point-turning gait, a triangular gait, and various quadrupedal gaits. Then, based on the target gait, it sends a movement signal to the sliding part to adjust the position of the middle leg relative to the torso. Next, based on the road condition information and the target gait, it obtains movement control parameters. Finally, based on these parameters, it sends a signal to the robot body to drive the robot to walk. Compared to existing technologies, this invention determines the required gait through the movement control module and then uses the sliding part to allow the middle leg to change position, enabling it to move in conjunction with the front or hind legs. This allows the hexapod robot to walk with a quadrupedal gait, combining the advantages of both triangular and quadrupedal gaits, and enabling it to cope with more diverse environments.

[0122] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for crawling a bigamous hexapod robot, the method comprising: Acquire road condition information and obtain a target gait based on the road condition information. The target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits. Based on the target gait, a movement signal is sent to the sliding part to adjust the position of the middle leg relative to the torso; Based on the road condition information and the target gait, the travel control parameters are obtained; Based on the travel control parameters, a signal is sent to the robot body to drive the robot body to walk; The step of sending a movement signal to the sliding part to adjust the position of the middle leg relative to the torso based on the target gait includes: If the target gait is a fixed-point turning gait or a triangular gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the middle position between the front leg and the hind leg; If the target gait is a quadrupedal gait, a movement signal is sent to the sliding part to cause the sliding part to move the middle leg to the connection point between the hind leg and the torso. The front leg alone constitutes a quadrupedal leg, and the middle leg and the hind leg located on the same side of the torso together constitute a quadrupedal leg. The method is applied to a bigadic hexapod robot, including a robot body and a walking control module. The robot body includes a torso, two front legs, two middle legs, two hind legs, and sliding parts. The two front legs are movably connected to both sides of the torso, the two hind legs are movably connected to both sides of the torso, and the two sliding parts are movably connected to both sides of the torso. The sliding parts are used to slide between the front legs and hind legs on the same side. The two middle legs are movably connected to the two sliding parts. The movement control module is electrically connected to the robot body. The movement control module includes a gait analysis module, a structure adjustment module, a parameter calculation module, and a movement drive module, wherein: The gait analysis module is used to acquire road condition information and obtain a target gait based on the road condition information. The target gait includes at least one of a fixed-point turning gait, a triangular gait, and multiple quadrupedal gaits. The structural adjustment module is used to send a movement signal to the sliding part according to the target gait to adjust the position of the middle leg relative to the torso; The parameter calculation module is used to obtain travel control parameters based on the travel road condition information and the target gait. The travel drive module is used to send signals to the robot body according to the travel control parameters to drive the robot body to walk; The torso includes two slide rails, which are respectively connected to both sides of the torso. The slide rails extend along the front leg toward the hind leg, and the sliding part is slidably connected to the slide rails. One end of the slide rail extends to the middle position between the foreleg and the hind leg, and the other end of the slide rail extends to the connection between the hind leg and the torso.

2. The bigait hexapod crawling method according to claim 1, characterized in that, The movement control parameters include joint rotation angles; obtaining the movement control parameters based on the movement road condition information and the target gait includes: If the target gait is a quadrupedal gait, then: Based on the road condition information and the type of quadrupedal gait, a foot movement model for each quadrupedal leg is obtained. Based on the foot movement model, the target position of the foot end of each quadrupedal leg is obtained; Based on the target position of the foot, the joint rotation angle of each quadrupedal leg is obtained.

3. The bigait hexapod crawling method according to claim 2, characterized in that, The step of obtaining the foot movement model for each quadruped leg based on the road condition information and the type of quadruped gait includes: Based on the aforementioned road condition information, the gait cycle, cadence, and ground clearance are obtained; Based on the type of quadrupedal gait, the target duty cycle and the phase difference of each quadrupedal leg are obtained; Establish directional velocity constraints; Based on the directional velocity constraints, the gait period, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadrupedal leg, the foot movement model of each quadrupedal leg is obtained.

4. The bigait hexapod crawling method according to claim 3, characterized in that, The process of obtaining the foot movement model of each quadruped leg based on the directional velocity constraints, the gait period, the stride frequency, the ground clearance, the target duty cycle, and the phase difference of each quadruped leg includes: Based on the strength characteristics of the robot body, and based on the gait cycle, the step frequency, the ground clearance, the target duty cycle, and the phase difference of each quadruped leg, an optimized trajectory function for the foot end of each quadruped leg is established. The independent variable of the optimized trajectory function is time, and the dependent variable is the acceleration of the quadruped leg. Based on the foot-end optimized trajectory function and the directional velocity constraints, the foot-end motion model of each quadrupedal leg is obtained.

5. The bigait hexapod crawling method according to claim 3, characterized in that, The quadrupedal gait includes crawling gait, trotting gait, and shuffling gait. The target duty cycle corresponding to the crawling gait is greater than or equal to 0.75 and less than 1. The target duty cycle corresponding to the trotting gait is greater than or equal to 0.5 and less than 0.

75. The target duty cycle corresponding to the shuffling gait is greater than or equal to 0.5 and less than 0.

75.

6. The bigait hexapod crawling method according to claim 5, characterized in that, The phase differences for each quadrupedal leg corresponding to the crawling gait are 0, 0.75, 0.25 and 0.5, respectively; the phase differences for each quadrupedal leg corresponding to the trotting gait are 0, 0.5, 0 and 0.5, respectively; and the phase differences for each quadrupedal leg corresponding to the shuffling gait are 0, 0, 0.5 and 0.5, respectively.

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