六足步行机器人控制系统研究

六足机器人是一种具有多支链与时变拓扑结构的特种机器人,该类机器人能够在复杂环境中稳定行走,长期以来一直是国内外机器人研究领域的热点之一。本文从仿生角度出发,归纳六足机器人稳定行走的三种方式;根据六足机器人各足支撑点围成的多边形区域与机体重心在其投影的关系来评定六足机器人行走稳定性,为实现六足机器人稳定性行走提供理论依据;最后根据机器人控制精度增加和智能力减少的原则,以分级递阶的方式设计六足机器人的运动控制系统。

Research on the Control System of Hexapod Robot

The hexapod robot is a special robot which can walk stably in the complex environments with multi-branched chain and time-varying topology, and the research of six-legged robot has been a hot topic in the field of robotics at home and abroad. In this paper, the three walking styles of robot is proposed based on bionics. A criterion that the walking stability of the machine is assessed based on the relationship between the polygon area surrounded by the support points and projection of center of gravity in the area mentioned above is put forward, and the criterion provides a theoretical basis to ensure that the robot walks stably. Finally, the distributed control system of the hexapod robot is designed according to the principle of increasing the control precision and reducing the intelligence of the control system.