控制六足仿生机器人三角步态的研究

Research on Tripod Gait of Controlled Hexapod Bionic Robot

基于仿生学原理,在分析六足昆虫运动机理的基础上,对六足仿生机器人的三角步态运动原理进行了分析。论文涉及六腿机器人步态研究的一些基本参数的描述,讨论了用相对运动的原理研究步态的方法,结合慧鱼机器人组合包中的构件拼出六足仿生机器人。该机器人模型结构简单,设计独特,能前进和后退,且能避开小型障碍物。基于三角步态运动原理对其进行了反复实验,实验结果表明六足仿生机器人具有较好的机动性和稳定性。

Based on the principles of bionics and the movement mechanism of the hexapod , the triangle gait movement principle of hexapod robot is analyzed. This paper describes several basic parameters of gait research for hexapod robot and discusses the gait study method using relative movement principle. Then the components of the Fischertechnik part are used to build a six - legged robot. The model possesses the characters of simple structure, unique design, can walk forward and backward, and can avoid mini - barrier. The experiments show that this robot has good mobility and stability.