Modeling, Simulation and Analysis of Locomotion Patterns for Hexapod Robots

摘要

This article discusses the modeling, simulation and analysis of locomotion patterns to hexapod robots. The mobile robot consists of three pairs of legs, each symmetric pair with each other and each leg consists of three rotating joints. From such geometric configurations, the forward and reverse kinematics modeling. As a result, there have been planning the trajectory, in which they analyzed the locomotion metachronal wave patterns, tetrapod and tripod. On dynamic modelling considered if the contact with the ground in three dimensions, the soil as a mass-spring-damper system, as well as each rotational joint torques. In the simulation, considered themselves the real values of the robot so were obtained temporary graphics of position of the joints of the robot and contact forces. Finally, the basic parameters of legged robots, which are important features between locomotion patterns.