仿生六足机器人步态规划策略实验研究

Experimental study on hexapod biomimetic robot's gait planning

采用日本弓背蚁进行常规步态实验学研究和仿生学探索,通过对高速数字摄像机采样结果的判断和分析,发现了蚂蚁后足的滑行过程并定义为"滑动相".此外,还针对蚂蚁直线前进步态给出了合理的步态关系表达式,通过与周期规则步态的对比证明了该式的现实可行性,为仿生六足机器人进行周期不规则步态的规划奠定了理论基础.所采用的实验学研究和仿生学探索相结合的方法能有效提高仿生机器人的技术水平.

The normal gait experimental study and bionics research using camponotus japionicus mary were conducted.Via analysis and estimation of sampling results collected by high velocity digital camera,the researchers discovered the sliding process of the ant′s hind feet and defined it as "slide phase".In addition,reasonable equation of ant′s gait is presented,whose feasibility was verified via comparison with period gait.This paper provided the theory foundation for the hexapod walking biomimetic robot irregular g...