六足机器人不规则地形下的运动规划算法研究

The study of Locomotion Algorithm of Hexapod Robot Walking over Irregular Terrain

摘要:

以六足类昆虫典型代表——蚂蚁爬越障碍柱和障碍柱堆的两种运动过程及其特点为分析对象,总结了蚂蚁在应对不规则地形时的运动策略,建立了更为合理的六足机器人的运动学数学模型；并仿照蚂蚁在应对不规则地形时的运动策略,提出在进行仿生六足机器人运动规划时,可将地形划分为浅度不平地形和深度不平地形两种情况,进而针对两种地形情况提出了六足机器人在不规则地形条件下的运动规划算法。最后通过样机试验验证所提算法的有效性。

Abstract:

As the typical species of hexapod, ants are taken as an object of experiments with their locomotion progress and characteristics being analyzed when they are creeping obstacle poles and obstacle stacks. With locomotion strategies of ants on irregular terrain being concluded, a more logical and more applicable locomotion mathematical model is constructed for the hexapod robot. Following the locomotion strategies, it is proposed that, terrain is classified into shallow irregular topography and deep irregular topography when processing locomotion planning of biomimetic hexapod robots. According to the classification, locomotion planning algorithm of hexapod robot on irregular terrain is proposed. Finally, the effectiveness of the proposed algorithm is verified by the prototype experiment.