Research on biologically inspired hexapod robot's gait and path planning

摘要

Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. Facing this status quo, we mainly adopt Solidworks as well as MSC.ADAMS to simulate and analyze the prototype model of the robot. By the simulations on our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foot's path is feasible. In this paper, the simulation principles, methods, and processes of the hexapod robot are illustrated. Finally, we find a methodology to get the robot inverse solution in ADAMS, and simplify the theoretical calculation, and further more improve the efficiency of the design.