Stable Motion Control Scheme Based on Foot-Force Distribution for a Large-Scale Hexapod Robot

摘要

In order to get stable walking motions of a large-scale hexapod robot, a control scheme based on foot-force distribution method is proposed in this paper. The foot-force distribution method in the control scheme is designed simply to achieve stable body postures and high computation efficiency without complex dynamics analyses. Desired foot forces to ensure system equilibrium of the hexapod robot can be obtained through this method and with the application of an impedance control model, the desired foot forces can be tracked through foot position compensations. Simulation experiments of both flat and uneven terrains walking are carried out and results show significant advantages of the control scheme in regulating robot postures compared with common control scheme without footforce distribution.