Development of Simulator and Analysis of Walking for Hexapod Robots

摘要

The control of legs for hexapod robot is complicated and it has been attracted many researchers' concern. Recently, such unmanned electric vehicles as automatic guided vehicles, drones with many rotors, and mobilities with crawlers, etc. are rapidly put into practical use. However, hexapod robots are far from the practical use although some toy robots are available. The hexapod robot would be much more useful for walking on wasteland, muddy land or slippery land, etc. and it is required to design the large-scale hexapod robot with optimized control of legs. A simulator for the walking of hexapod robot is developed for the first time and the walking behaviors are analyzed. The application of Model Based Design method to the development of simulator and the straight walking stability is discussed.