120 results about "Hexapod" patented technology

A device and a method for measuring the pose of mechanisms includes at least one effector object fixedly joined to a mechanism (e.g., industrial robot, hexapod) in which the at least one effector object moves along one of several axes. The ideal, effective shape of the at least one effector object is a point, a straight line, a plane, an ellipsoid, a cylinder, a hyperboloid or a combination thereof. The movable effector objects interact with reference objects which are arranged in defined positions relative to the mechanism. The interactions are detected by a suitable sensor. The interactions are detected, only the pertaining joint configuration of the mechanism is transmitted to the information processing unit and evaluated and no further continuous values of measuring parameters are required for the evaluation.

The invention provides a hexapod robot obstacle avoidance method based on fuzzy Q learning. The method comprises the steps that a hexapod robot measures the obstacle distance around the robot througha front ultrasonic sensor and converts the measured obstacle distance into a finite state set through fuzzy inference; according to the finite state set, obstacle avoidance simulation modeling is carried out in a simulation platform; a Q learning algorithm is used to learn the action taken by the hexapod robot in the corresponding state; the state set of the hexapod robot in the current state is determined; fuzzy inference is used to determine the action set of the hexapod robot; and the actions are fused to determine the next action. The obstacle avoidance method can realize a great obstacleavoidance effect in an environment where the number of obstacles is large, and has a good market prospect.

The invention relates to a novel hexapod bio-robot. The novel hexapod bio-robot comprises a body platform and six modular mechanical feet with the same structure, wherein the body platform is a rack for connecting the six mechanical feet. The novel hexapod bio-robot is characterized in that the body platform comprises an upper rack plate, a lower rack plate and connecting plates, wherein the upper rack plate and the lower rack plate are in the same shape and size and connected through the connecting plates, the six mechanical feet are symmetrically distributed between the upper rack plate and the lower rack plate and on two sides in the length direction of the upper rack plate through flanges, and adjacent mechanical feet have the equal distance; each mechanical foot comprises a coxa unit, a meropodium unit and a tibia unit, the coxa unit and the tibia unit are fixed at two ends of the meropodium unit respectively, and the upper part of the coxa unit is connected with the body platform. The robot is provided with a foot end sensing system and has multiple motion modes, thereby realizing omni-directional walking in the complex environment and dynamic sensing for the terrain environment.

Provided with a hand-and-foot integration electric hexapod robot. The robot includes a trunk and four legs connected to the trunk, and the trunk is also connected with two rotating arms, wherein each rotating arm comprises three transmission chains, namely, a first transmission chain, a second transmission chain and a third transmission chain, the first transmission chain is connected to the trunk, the second transmission chain is connected to the first transmission chain, and the third transmission chain is connected to the second transmission chain; the ends of the third transmission chains of the two rotating arms are connected with handles. The robot breaks through the singleness that a walking robot only can walk, and through a hand-and-foot integration mechanism, the function of space operation is expanded while the ground adaptability of robot is improved; the robot is mainly used in a complex operating environment, wherein the form of the robot can be changed according to specific working conditions, and the robot is provided with the function of hand-and-foot integration, and adopts a hexapod mechanism structure, so that the robot has the high stability and can quickly pass through a complex terrain. The robot adopts the mechanism structure of four feet and two arms, therefore the robot can realize simultaneously walking and grabbing objects, and is driven with more portability and flexibility.

The invention provides a hexapod robot motion control algorithm which is mainly used for solving the problem that, in the supporting state advancing process of legs on the two sides of a robot body, the walking tracks of the legs relative to joints are arc-shaped, so that mutual exclusion force is generated, and the joints of the robot body are damaged. The method comprises the five steps of establishing a robot coordinate system, establishing a robot body coordinate system, establishing a single walking leg coordinate system, performing forward and reverse kinematics solution and performing amotion control method. Viewed from each leg and joint, the algorithm enables the foot end track of a robot in the supporting state walking process to be a straight line, as shown in Figure 1, and thetracks of the two side legs of the robot body are parallel to each other, so that the problem of mutual exclusion force is well solved; in addition, according to the algorithm, foot ends make vertical contact with the ground in the lifting and falling process of the legs, so that the robot body is not prone to sideslip, and the stability of the robot body is greatly enhanced.

The present invention provides a fuselage attitude angle correction-based hexapod robot joint angle calibration method. According to the method, the fuselage attitude angle of a hexapod robot is acquired by a micro inertial sensor. In combination with the system kinematics and the inverse kinematics model of foot type robots, the correction for each joint angle of the support legs of a multi-foot movement robot is completed. The hexapod robot is driven to be supported on the ground by any three feet, while the other three feet of the hexapod robot are lifted and always kept not in contact with the ground. One support leg of the hexapod robot is selected to drive the one joint on the selected support leg to rotate in angle, while the bottom of the support leg is sliding. At the same time, the bottoms of the other two support legs are not sliding relative to the ground. A function relationship between the joint angle and the attitude is established, and a system of linear equations for the zero point of the joint is obtained. As a result, the coordinate of the bottom of the support leg relative to a fuselage coordinate system is obtained. After that, the angle of each joint of the support legs of the robot can be solved out reversely based on the known position of the tail end of the above support leg. Based on the method, the correction for the joint angles of the multi-foot movement robot is completed rapidly and accurately. Therefore, the multi-foot coordination and the movement track precision of the multi-foot movement robot are ensured.

Provided is a gait of precise positioning of a three-steering engine hexapod robot, relating to a walking method of precise positioning of the three-steering engine hexapod robot when the robot moves in a plane surface. Through combining right front gait and left front gait in different orders, the gait can guarantee realization of precise movement of the three-steering engine hexapod robot on ideal ground and mechanism conditions and realize forward, backward, left and right movement as well as rotation. The new walking method adopted by the three-steering engine hexapod robot, enables improved accuracy of walking path of the robot. Specific gait process is described in the specification.

The invention provides a free fault-tolerant gait planning method and device for a hexapod robot and a storage medium. The method comprises the following steps that state information and ground foot falling point information of the hexapod robot are obtained; a swing leg combination and a body gravity center movement step length of the hexapod robot are determined according to the state information; a machine body gravity center track of the hexapod robot and a foot falling area of each swing leg are determined in combination with the machine body gravity center movement step length and the state information; a target foot falling point of each swing leg in the corresponding foot falling area is determined according to the ground foot falling point information; for the swing leg without the target foot falling point or incapable of falling, the swing leg is controlled to suspend at a preset position; and for the swing leg of which the foot can fall at the corresponding target foot falling point, the foot end track of the swing leg is determined according to the state information and the target foot falling point. According to the technical scheme, the gait of the hexapod robot canbe planned when the swing legs have no foot falling points or cannot fall, and the ability of the hexapod robot to pass through the sparse foot falling point terrain is improved.

The invention belongs to the technical field of multi-legged walking robots and discloses a spherical hexapod robot capable of rolling and walking. The spherical hexapod robot comprises twelve shells, six upper limbs, two discs, twelve curved bars and six lower limbs. Six supports are fixed to the discs through screws; the six upper limbs are fixed to the six supports correspondingly; the six sets of curved bars are fixed between the upper disc and the lower disc through threaded rods; each set of curved bars is provided with the corresponding lower limb; each of the six upper limbs is provided with two digital actuators and the corresponding shell; the two discs are each provided with the corresponding six curved bars correspondingly; the twelve curved bars are divided into the six sets which each comprise the two curved bars, and each set of curved bars is connected to the corresponding lower limb; and each of the six lower limbs is provided with two digital actuators and the corresponding shell. The spherical hexapod robot is simple in structure, easy to implement and moderate in cost, an Arduino single chip microcomputer and an actuator control panel are used for controlling, so that control precision is high, and operation difficulty is small; and good maneuverability and adaptability are achieved, and the actual working efficiency is high.

The invention provides a novel hexapod boiler water wall maintenance robot. The novel hexapod boiler water wall maintenance robot comprises: a main transmission system for realizing longitudinal linear movement of the robot on a vertical wall surface; a three-degree-of-freedom mechanical leg transverse movement mechanism which is used for realizing an adsorption function, an obstacle crossing function and crossing in different working intervals of the robot; and a maintenance mechanism which achieves the functions of accumulated dust cleaning and camera shooting. The electromagnetic wall-climbing robot is high in load capacity, flexible in movement, high in wall surface adaptive capacity and good in application prospect, almost realizes full coverage of the interior of a boiler without dead angles, and has good application prospect. According to the scheme, low noise, no pollution, low cost and light weight are achieved, and sustainable development of the environment and the society isfacilitated.

The invention discloses a novel suspension-legged hexapod robot with legs and the body connected by a sliding pair to enable the legs to slide along guide rails around the body. The novel suspension-legged robot specifically comprises an upper body plate, a lower body plate, an upper body circular groove guide rail, a lower body circular groove guide rail and a body fixed rack wheel; four steering engines are mounted on the six legs, one of the steering engines drives a pinion to be meshed with the body fixed rack wheel, and when the pinion rotates, the legs are driven to move circumferentially along the body circular guide rails around the body; four bull-eye bearings are mounted on the legs and are inserted into grooves of the body circular guide rails to cooperatively achieve the function of fixing the legs, and the legs are allowed to slide along the guide rails; the rest three steering engines respectively drive two degrees of freedom of hip joints and one degree of freedom of knee joints. When the two legs of the robot are operated, the rest four legs can ensure that the center of gravity of the robot is still constantly located in a support polygon when the only four legs are used for walking after reassignment of location, and simultaneous performing of operation and walking is realized.

The invention discloses a hexapod robot obstacle avoidance method based on adaptive weight reinforcement learning. The method comprises the following steps: enabling a hexapod robot to measure the distance between the robot and each nearby obstacle through a distance measurement sensor, and converting the measured obstacle distance into a limited state set through a fuzzy membership function; establishing a hexapod robot obstacle avoidance model according to the limited state set, and learning an optimal network model parameter theta * by using an adaptive weight reinforcement learning algorithm; and obtaining an optimal target strategy for obstacle avoidance of the hexapod robot according to the trained optimal network model parameter theta *, and obtaining an action at which the hexapodrobot needs to avoid the obstacle at the moment t according to the optimal target strategy. The obstacle avoidance method can achieve a good obstacle avoidance effect in a position environment with alarge number of obstacles, and has a good market application prospect.

The invention discloses a buffering / walking integrated hexapod lander and a gait control method thereof, belongs to the technical field of deep space star catalogue detection mechanisms, is composed of a mechanical structure, a control system and gait planning, and has two functions of stable landing and flexible roaming. The mechanical structure is composed of a hexagonal frustum type body and six buffering / driving integrated three-degree-of-freedom leg and foot mechanisms which are symmetrically distributed according to the center of a regular hexagon. The control system consists of a main control module and a special motion controller and is used for controlling the position of each driving motor in each buffering / driving integrated three-degree-of-freedom leg-foot mechanism so as to realize quasi-static walking of the lander; the gait planning adopts a stable and efficient 3-3 gait which is more matched with the hexapod configuration, and the smooth fluctuation track of the centroid of the body is realized through the motion control of each buffer / drive integrated three-degree-of-freedom leg and foot mechanism.

The invention relates to a hydraulic hexapod robot and a walking gait control method based on mass center fluctuation, which belong to the technical field of robots. The robot comprises a body and three hydraulic mechanical legs arranged on the two sides of the body respectively. Each hydraulic mechanical leg comprises a root joint, a hip joint, a thigh rod, a knee joint, a shank rod and a foot end fixedly arranged on the shank rod, and the gait control method comprises the steps that the hydraulic mechanical legs are controlled to walk according to the three-foot gait according to the plannedfoot end track, so that the mass center track of the six-foot walking robot is a cosine curve track; specifically, under a calcaneal joint coordinate system, the components of the foot end track in the advancing direction and the vertical direction are all sextic polynomials, and displacement, speed and acceleration are continuous. Compared with a control method for keeping the mass center heightapproximately unchanged in the prior art, the control method provided by the invention has the advantages that the average flow and average power of the robot in one gait period can be effectively reduced through the gait with the fluctuated mass center, so that the energy utilization rate is effectively increased, and the method can be widely applied to the technical field of robots.

A cuboctahedron-based recreational structure may comprise a plurality of hubs and a plurality of tubes. A kit for assembling the same may comprise a plurality of hubs and optionally a plurality of tubes. The plurality of hubs may include tetrapod hubs, hexapod hubs, and / or octopod hubs, each being configured to receive tubes extending from different ones of the plurality of hubs to form one or more cuboctahedral frames. Each hub may comprise a plurality of tube receptacles. The plurality of hubs and the plurality of tubes may be arranged to form one or more cuboctahedral frames, each having twenty-four edges and twelve vertices. Edges of the one or more cuboctahedral frames may comprise tubes. Vertices of the one or more cuboctahedral frames may comprise hubs. Connections between the hubs and the tubes may be formed by an end portion of each tube disposed within a tube receptacle of a hub.

The invention provides a post-disaster rescue hexapod robot autonomous detection system and method, and relates to the field of robot technology application. The system comprises a control module, a sensing module, an execution module and a monitoring module, wherein a hexapod robot adopts an improved artificial potential field method for autonomous detection, when a post-disaster wounded person is not detected, a set value of a GPS and inertia measurement unit serves as a target point for movement of the hexapod robot; when the post-disaster wounded person is detected, the hexapod robot changes priority of sensors, and the position of the post-disaster wounded person serves as a target point where the hexapod robot moves. The system is advantaged in that the hexapod robot fuses ultrasonicwave and infrared photoelectric switch data through a neural network algorithm so as to realize obstacle avoidance and obstacle crossing of the hexapod robot, a Kalman filtering algorithm is adoptedto fuse GPS and inertial measurement unit data to complete autonomous positioning and navigation of the hexapod robot, reasonable arrangement of an infrared pyroelectric sensor is combined to completeperception and positioning of the post-disaster wounded person, and the autonomous detection function of the hexapod robot is achieved.

The invention provides a bionic hexapod pipeline robot, and belongs to the technical field of pipeline robots. The problem that an existing snake-like robot and a wheeled robot have continuous motiontracks and cannot cross obstacles is solved; the bionic hexapod pipeline robot comprises six mechanical legs and a trunk, the six mechanical legs are evenly distributed in the circumference directionof the trunk, and each mechanical leg comprises an extension leg, a leg plate, a driving mechanism, a U-shaped bracket and a cross bracket; the driving mechanism comprises a first steering gear, a second steering gear and a third steering gear, the extension leg and the leg plate are connected, and the leg plate is fixedly connected with a connecting plate on the first steering gear; and the two ends of the U-shaped bracket are respectively connected with reducers on the first steering gear and the second steering gear, the two ends of the cross bracket are respectively and fixedly connected with coupling plates on the second steering gear and the third steering gear, and the reducer on the third steering gear is fixedly connected with the trunk. The bionic hexapod pipeline robot is mainlyused for pipeline overhaul and maintenance.

The invention discloses an obtaining device and obtaining method for the position of a central axis of a main shaft of a machine tool. The obtaining device comprises a Hexapod mobile platform, an auxiliary calibrating piece, a laser sensor and a controller, wherein the Hexapod mobile platform comprises an upper platform, a lower platform and six telescopic rods; the lower platform is mounted on a cutter frame; a cutter is mounted at the central position of the upper platform; the Hexapod mobile platform has six freedom degrees; the auxiliary calibrating piece is mounted at the end part of the main shaft of the machine tool, and comprises a flat cylindrical end plate perpendicular to the main shaft of the machine tool; the laser sensor is mounted on the upper platform; the controller can control the upper platform of the Hexapod mobile platform to move along one or more freedom degrees of the six freedom degrees, and control the laser sensor to scan the flat cylindrical end plate in the moving process of the upper platform; and the controller obtains a straight line equation of the position of the central axis of the main shaft of the machine tool in a Hexapod coordinate system according to scanning data. According to the obtaining device and the obtaining method disclosed by the invention, the position equation of the central axis of the main shaft of the machine tool can be quickly and accurately obtained without performing sacrificial cutting on a work piece, so that the working efficiency is greatly improved.

The invention discloses a hexapod robot for maintenance of a heavy vehicle chassis, and relates to the technical field of vehicle maintenance equipment. The hexapod robot comprises a controller and amobile platform for bearing a laser radar, a camera and an operating arm, the edge of the mobile platform is provided with a hexapod walking device, and the controller is in wireless connection with the laser radar, the camera and the operating arm. The laser radar scans a vehicle and automatically plans a path, the environment below the vehicle chassis is observed by means of the camera to facilitate maintenance operation, the hexapod walking device on the edge of the mobile platform is remotely controlled by the controller to conduct coordination and posture adjustment movement to achieve autonomous movement and multi-leg-foot coordination work, all-around position and posture adjustment of the maintenance robot below the vehicle chassis can be achieved, and maintenance operation is conducted by controlling the action of the operation arm. Bolt loading, unloading, oil changing or cleaning maintenance work can be carried out on the chassis system, and the chassis system is particularly suitable for maintenance of narrow space places below the vehicle chassis.

The invention relates to a control method based on a leg-arm multiplexing hexapod robot and the robot, and the method comprises the following steps: building a model by taking the trunk mass center of the leg-arm multiplexing hexapod robot as an original point, and obtaining the feedforward force of each supporting leg of the robot by using the position vector of the leg supporting point of the robot relative to the mass center point and the virtual supporting force at the trunk mass center; constructing a whole-body dynamic model of the robot by utilizing the floating degree of freedom of the robot trunk, the motion degree of freedom of the robot joints and the obtained feedforward force of each supporting leg, and obtaining the joint torque of each supporting leg of the robot; acquiring a joint angle and a joint torque in a swing track of a non-supporting leg of the robot by utilizing the change of position coordinates of the robot; and achieving robot control based on the joint torque of each supporting leg and the joint angle and the joint torque of the non-supporting leg. Supporting force can be optimized in real time, the movement track can be adjusted, and robust movement under external force disturbance is achieved; and during arm type operation, a single-arm mode and a double-arm mode are flexibly configured, and various operations such as pushing and the like are realized.

The invention discloses a special wheel-foot integrated hexapod robot based on OS wheels. The robot is composed of a robot body, a visual system, a positioning module, a control module, a comprehensive detection module, a power module and a storage module. The adopted OS type rotating wheel can greatly improve the obstacle crossing capacity of the robot, the robot body is divided into three sections, each of the three sections is connected to other sections through a spherical hinge, and the hinges are driven by three two-degree-of-freedom motors. The robot is more flexible due to the vehiclebody segmentation design and can be applied to various complex scenes. In addition, different sensors are arranged, so that the work of alarming, license plate recognition and the like can be effectively carried out. The robot comprehensively considers the advantages and disadvantages of a wheel type robot and a foot-shaped robot, has the capability of the foot-shaped robot to pass through different terrains, has a high moving speed, and has the advantages of being high in environmental adaptability, high in obstacle passing efficiency, high in land leveling speed, diverse in function, easy todisassemble and replace, low in maintenance cost, capable of being operated manually and the like.

The invention discloses a bionic hexapod robot crab control system, and belongs to the technical field of multi-foot robot crab control. The bionic hexapod robot crab control system is used for solving the problem that the self-adaptive walking capability of a robot crab is poor under the complex submarine terrain conditions. The bionic hexapod robot crab control system comprises a GPS positioningmodule, an attitude sensor module, a visual information acquisition module and a control unit. The GPS positioning module is adopted to collect positioning signals of a hexapod robot crab; the attitude sensor module collects attitude angle signals, angular velocity signals and acceleration signals of the hexapod robot crab; the visual information acquisition module acquires visual images of the hexapod robot crab in the walking process; joints of six walking feet and two tail wing feet of a robot crab body transmit control instructions to an executing mechanism through steering engines and feed back corresponding joint angles, joint speeds and joint torque; and the control unit processes all collected data and a preset walking path, obtains expected motion trails of each walking foot andeach tail wing foot of the robot crab, calculates and obtains motion angles of all the joints of the walking feet and the tail wing feet, and then transmits the motion angles to the corresponding steering engines in a matched mode according to instruction IDs. According to the bionic hexapod robot crab control system, self-adaptive walking operation of the robot crab under the complex terrain conditions can be realized.

The invention discloses a hexapod robot impedance control method based on reinforcement learning. The method comprises the following steps of establishing a hexapod robot dynamic system which has a noise parameter and is based on dynamic motion primitives; determining a torque control expression based on impedance control; determining a table form of a variable gain table; determining a cost function of a control system; and determining a parameter updating rule based on a path integral learning algorithm. According to the control method, system parameters are learned and updated by means of the path integral learning algorithm, so that a value of the cost function is as small as possible, and a robot can continuously adjust a reference track of foot end motion and a gain of a controller under the interference of an uncertain force field to obtain a good variable impedance control effect, and can move to an ideal target point in an expected form.

A transport trolley for transporting a load comprising a base mounted on motorized wheels, a deck mounted to be translationally mobile on the base in a direction of translation, a first motorized system displacing the deck, a hexapod platform comprising a platform and a set of six jacks in which each is mounted articulated between the deck and the platform. The platform comprises a plurality of bearing points configured to come under the load and each bearing point takes the form of a receptacle with its opening oriented upwards. A control unit controls each motorized wheel, the first motorized system and each jack. The use of a hexapod platform makes it possible to finely position the wing at its position of fixing onto the fuselage and the use of a mobile deck supporting the hexapod platform allows for adjustability of the position despite a smaller footprint around the aircraft.

The invention discloses a paddle leg type deformable amphibious hexapod robot, and relates to an amphibious hexapod robot. The amphibious hexapod robot solves the problems that an existing amphibioushexapod robot is redundant and complex in structure, difficult in amphibious mode switching, low in operation efficiency, low in speed and difficult to meet the requirements for land obstacle crossingand underwater propulsion at the same time. Three paddle leg driving modules are fixed to the front portion, the middle portion and the rear portion of a chassis, a battery is installed on the chassis and located between the paddle leg driving modules in the front portion and the middle portion, a deformation driving module is installed on the chassis through bolts, and the deformation driving module is arranged between the paddle leg driving modules in the middle portion and the rear portion. A drive control system is fixedly installed on the rear portion of the chassis through bolts, an upper shell cover and a lower shell cover are installed on the chassis in a covering mode, and the upper shell cover, the lower shell cover and the chassis are sealed in a soft sealing and waterproof mode. The robot is used in the fields of land walking and water surface or underwater propulsion.

A linear delta system includes a support frame, rails mounted to the support frame, linear actuators, each linear actuator configured to translate along a longitudinal length of a respective rail, pairs of parallel rods each coupled to the linear actuators, a platform coupled to a longitudinal end of each of the pairs of parallel rods opposite the respective linear actuator, and an object coupled to the platform. Longitudinal axes of the rails are oriented parallel to each other and lie within a common plane or an uncommon plane. A method of forming a linear delta system includes mounting rails to a support frame, the rails having longitudinal axes that are parallel to each other and lying within a common plane, coupling a linear actuator to each of the rails, coupling a pair of parallel rods to each linear actuator, and coupling a platform to the pairs of parallel rods.

The invention discloses a bionic hexapod robot. The robot comprises a robot body component and six mechanical legs evenly arranged on the robot body component, the robot body component comprises a top plate, a bottom plate and a supporting rod arranged between the top plate and the bottom plate, six supporting shafts are evenly arranged on the top plate, and six bearings corresponding to the supporting shafts are uniformly arranged on the bottom plate. Each mechanical leg comprises: a fixed base; a leg base which rotates in a horizontal plane; a first driving part which is arranged on the fixed base and drives the leg base to rotate; a connecting rod assembly which is rotationally connected with the leg base; a leg part which is rotationally connected with the connecting rod assembly; a second driving piece which is arranged on the leg base and connected with the connecting rod assembly to drive the legs to move in the horizontal direction; and a third driving part which is connected with the connecting rod assembly to drive the legs to move in the vertical direction. The bionic hexapod robot is high in bearing capacity and stable in walking, and the working space of the mechanical legs is enlarged.

The invention designs an underwater hexapod robot gait generation and conversion method based on a CPG-Hopf network coupling algorithm, and aims at solving the problem that a hexapod robot coordinates the actions of legs in the movement process and improves the smoothness of the actions during gait conversion. Most of existing gait generation methods are based on a model method and a behavior control method, the controllability of actions is not high, and the actions are not high-intelligence behaviors. The CPG-Hopf network coupled oscillator simulates the mechanism of rhythm motion generated by animals and is applied to control of the robot, and the CPG-Hopf network coupled oscillator has the advantages of being high in controllability, more stable and higher in motion efficiency. Meanwhile, a CPG-Hopf network coupling algorithm is optimized on the basis of a CPG-Hopf network coupling oscillator, interpolation calculation is conducted on key parameters in the CPG-Hopf network coupling algorithm through linear interpolation, the underwater hexapod robot is more stable and smoother during gait switching, and therefore the situation that the joint angle of a middle arc-shaped leg changes suddenly is avoided, and the stability and smoothness of the robot are improved. And the mechanical and control system of the robot is impacted, so that the structural safety of the underwater hexapod robot is ensured.

The invention provides a robot state planning method and device based on sequence optimization and a storage medium, and the method comprises the steps: repeatedly executing a random sequence generation step for many times according to a preset initial state, and obtaining a random sequence set, wherein the random sequence generation step comprises the steps of circularly executing a motion stategeneration algorithm according to an initial state until a preset target state is reached or a next motion state cannot be generated, and obtaining a random sequence; and scoring each random sequenceaccording to a preset rule, and determining the random sequence with the highest score as a motion sequence of the robot in the random sequence set according to a scoring result. According to the technical scheme, the whole movement process is considered, and the state sequence of a hexapod robot is planned, so that the front-back state coupling influence caused by periodic planning can be avoided, and the traffic capacity of the hexapod robot in complex terrains is improved.