Motion Planning and Simulation of Combined Land-Air Amphibious Robot

摘要

In order to carry out complex tasks such as disaster rescue and field investigation, this paper designs a land-air amphibious robot that combines the four-legged walking robot and the quadrotor. The robot can not only perform structural separation according to operational requirements in order to realize land and air multi-field investigations. At the same time, the quadrotor can fly freely on the quadruped walking robot body to perform combined operations, providing more possibilities for multi-purpose investigation. The foot trajectory of the four-legged walking robot adopts the Bezier curve, and the center of the robot body is planned to move in a straight line, which can ensure the fluency, stability, and flexibility of the walking motion of the robot. The results of simulation and verification show that the combined land-air amphibious robot has excellent sport characteristics and has popularization and application value.