Abstract It is one of the important goals of the kinematics research of the foot robot to realize the stable walking of the robot under complex terrain. In order to solve the walking problem of hexapod robots in slope environment, the inverse kinematics equation of leg is deduced from the kinematics analysis of single leg of robot. Considering the motion posture of the body, the parametric motion curve of the foot of the swinging leg is programmed, and the different requirements are met by adjusting the parameters. According to the inclination of the slope, the center motion of the organism is planned. The movement of the center motion of the body is combined with the motion of the foot of the swinging leg to achieve the steady walking of the robot slope. The validity is verified by simulation and physical prototype experiment.
Steady Walking on the Slope of Hexapod Robot Considering Posture
2018-10-05
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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