Research status and development trend of bionic multi-legged mobile robot

摘要

Bionic multi-legged mobile robot has a wide application prospect because of its discrete ground support and strong adaptability to complex special terrain and unpredictable environment such as obstacles and ditches. This paper introduces the research status of bionic multi-legged mobile robot at home and abroad from three aspects of quadruped bionic mobile robot, hexapod bionic mobile robot, and eight-legged bionic mobile robot, and summarizes the key technologies of bionic multi-legged mobile robot from three aspects of gait planning method, stability criterion and motion control strategy. It is found that there are still some problems in the control system, drive system and body structure in the current research of bionic multi-legged mobile robot, which leads to a big gap between the functional characteristics of bionic multi-legged mobile robot and the imitated creature. This paper points out that the bionic multi-legged mobile robot is developing in the direction of intelligent control, bionic muscle driving, efficient energy supply and utilization, diversified functions, and new bionic materials, which lays a foundation for the further development of the bionic multi-legged mobile robot.