六足步行机器人非结构化地形下的方向控制研究

Heading Control Research of Hexapod Walking Robot on Unstructured Terrain

针对六足步行机器人在非结构化地形下运动时方向转动角度大小对控制的影响,运用差分控制方法导出六足步行机器人在非结构化地形下行走时各足端的方位信息,在保持机体和足端协调性的同时,保证机器人在运动过程中不与复杂的地面发生接触,顺利地完成机器人左右转弯运动。在仿真实验中得到了满意的结果,为将来的实际应用奠定基础。

In order to solve the problem of heading control for the hexapod walking robot on unstructured terrain, the difference control way can be utilized to calculate the orientation of hexapod walking ro- bot. The coordination of the body and legs can be realized, and the interference between the robot and complex ground can be avoided while robot is moving. Therefore, robot can turn right or left smoothly. In addition, the satisfactory result in the simulation experiment is obtained. A useful basis for future practical application is built.