Virtual model optimization and locomotion control of bionic hexapod robot

摘要

With reference to current biology research achievements of hexapod insects, this paper presents the design and optimization of structure of the bionic hexapod robot, imitating the cockroach body shape and structure features. Tripod Gaits is chosen as the robot's gait which is the most stable and fast gait for hexapod robots. We evaluate the performance of our design by testing it on the simulation system based on Virtools, which is an interactive integrating platform for virtual prototype and virtual environment. As a result of the adoption of the software, this paper relates in detail the message passing mechanism and a method of adjusting torque factor dynamic parameters, based on actuator's movement need. The result verifies the rationality of the structure and the locomotion flexibility of the robot.