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.

    本发明提供了一种六足机器人的自由容错步态规划方法、装置及存储介质,方法包括如下步骤:获取六足机器人的状态信息和地面落足点信息;根据状态信息确定六足机器人的摆动腿组合和机体重心移动步长;结合机体重心移动步长和状态信息分别确定六足机器人的机体重心轨迹和各个摆动腿的落足区域;根据地面落足点信息确定各个摆动腿在对应的落足区域中的目标落足点;对于没有目标落足点或无法落足的摆动腿,控制摆动腿悬停在预定位置;对于能落足在对应的目标落足点的摆动腿,根据状态信息和目标落足点确定摆动腿的足端轨迹。本发明的技术方案能够在摆动腿没有落足点或无法落足时规划六足机器人的步态,提高了六足机器人通过稀疏落足点地形的能力。


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    Title :

    Free fault-tolerant gait planning method and device for hexapod robot and storage medium


    Additional title:

    六足机器人的自由容错步态规划方法、装置及存储介质


    Contributors:
    DING LIANG (author) / XU PENG (author) / GAO HAIBO (author) / WANG ZHIKAI (author) / XU CHONGFU (author) / DENG ZONGQUAN (author) / YU HAITAO (author)

    Publication date :

    2020-09-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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