Planning method for foot end track of rhythm gait of hexapod robot

Abstract

The invention discloses a planning method for a foot end track of a rhythm gait of a hexapod robot. The method comprises the following steps: determining a land occupation coefficient and a swing period number in one gait period according to three rhythm gait types; planning a walking stride and a single step length of the rhythm gait; planning a hexapod robot foot end motion track interpolation function based on a trigonometric function and an S-shaped function; planning an instantaneous step length interpolation function expression of a swing phase and a support phase; and solving the instantaneous coordinates of the foot end of the hexapod robot relative to a machine system. According to the rhythm gait foot end track planning method, parameters can be adjusted in real time, a smooth foot end motion track can be obtained, and the method is suitable for all-dimensional motion of rhythm gaits of a hexapod robot under different terrains.

Description

technical field [0001] The invention relates to the field of robot motion planning, in particular to a planning method for the rhythmic gait foot end trajectory of a hexapod robot. Background technique [0002] In the field of mobile robots, compared with traditional wheeled robots and tracked robots, legged robots can move stably in non-continuous irregular terrain through discrete footfall gait, and the single-leg support with multiple degrees of freedom The chain ensures the diversity and flexibility of movement, and can better adapt to the ups and downs of the terrain. As one of the representatives of legged robots, hexapod robots have more single-leg branch chains than biped robots and quadruped robots, so they can use a statically balanced gait during movement without complex dynamic balance control. , which is superior in stability; compared with the eight-legged robot, it has better gait flexibility due to its simpler structure and less interference between legs. T...

AI Technical Summary

Problems solved by technology

The cubic spline fitting method has the following problems: First, the velocity and acceleration curves are not smooth, and even sudden acceleration changes may occur, which will cause adverse effects on articulated robots; second, it is necessary to set multiple intermediate path points and determine multiple constraints Relational formula, large amount of calculation

Although the quintic spline interpolation method guarantees the continuity of the velocity, it has the disadvantages of more constraints to be determined, more parameters, and more complicated calculations

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