Motion planning for hexapod robot based on fitted curve

摘要

In order to imitate biological gait subtly and develop the movement potential of the hexapod robot comprehensively, kinematics analysis and dynamics analysis are made to be foundation of mathematics. The adaptation of the analysis method is improved and the hexapod robot single-leg workspace equation is got with combining vector method and geometric method. Based on the relative motion theory, a method to transform body motion planning into foot path planning is presented to simplify the issue of body motion planning. The discrete gait model to disperse the foot path is presented, hence we can solve the path planning issue by choosing the suitable discrete foot point. Fitted curve model is adopted in our study on trajectory planning. It is proved by MATLAB modeling and simulation that the method of path planning can generate stable gait and coordinate legs efficiently to help hexapod robot in good motion control.