Hexapod robot and planning method for foot end track

Abstract

The invention discloses a hexapod robot and a planning method for a foot end track. The hexapod robot comprises a body, six legs distributed on the body, a hardware system and a software system, wherein each leg of the robot is composed of three joints and connection components thereof, and the three joints sequentially are a hip joint, a knee joint and an ankle joint from top to bottom; a bufferstructure is arranged at the tail ends of the six legs separately; and the robot hardware system comprises a remote host control system, a robot body control system, a robot motor bottom drive systemand a vision system, and the software system is realized on the basis of an ROS robot operation system. According to the planning method for the foot end track, the movement of foot ends of the hexapod robot is realized by adjusting the heights of the two end points of a movement track parabola, the height of the vertex, the initial angle of leg raising, and the grounding angle of leg dropping. The planning method for the foot end track specifically comprises an initial leg raising phase, a middle leg swinging and rowing phase and an end leg dropping phase. According to the hexapod robot and the planning method for the foot end track, the obstacle crossing ability and the terrain adaptability of the hexapod robot are improved.

Description

technical field [0001] The invention relates to the field of robot motion control, in particular to a hexapod robot and a method for planning the trajectory of its foot end. Background technique [0002] Mobile robots are classified according to the way they move, and can be divided into: wheeled robots, tracked robots, legged robots, and hybrid robots. Among them, wheeled robots are the most widely used. Wheeled robots have the advantages of simple structure, fast movement speed, high efficiency, and easy control. However, the ground that wheeled robots and crawler robots can pass through must be continuous, but many ground passable areas in natural environments are discrete and discontinuous, which limits their applications. Will cause damage to the ground it passes through. There are many environments on the surface of the earth that wheeled and tracked robots cannot pass through. Even in some rough environments, wheeled and tracked robots can pass through successfully,...

AI Technical Summary

Problems solved by technology

However, the ground that wheeled robots and crawler robots can pass through must be continuous, but many ground passable areas in natural environments are discrete and discontinuous, which limits their applications. Will cause damage to the ground passing through

There are many environments on the surface of the earth that wheeled and tracked robots cannot pass through. Even in some rough environments, wheeled and tracked robots can successfully pass through, but they also have to pay the price of consuming a lot of energy.

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