慧鱼六足仿生机器人步态研究与实现

在仿生学原理的基础上，对六足步行机器人三角步态的行走原理和稳定性进行了分析。采用慧鱼仿生机器人包搭接出六足步行机器人，进行了一系列步行的实验。并对机器人腿部机构中的足端轨迹进行了仿真与分析。结果表明该机器人能够严格按三角步态进行行走，实现诸如直线、转弯、躲避障碍物等行走功能，具有较好的机动性。

A Research and Realization on the Gait of the Fischertechnik Hexapod Bionitc Robot

Based on the principles of bionics,the tripod gait of a hexapod walking robot and the static stability is analyzed in this paper.The author of the paper uses the Fischertechnik bionic robot to build six-legged walking robot.After a series of walking experiments,the successful heapod walking robot on tripod gaits was achieved.Build upon the successful walking,the locus of the extremity of the hexapod robot's leg was calculated.This robot has some abilities such as linear walking,turning and avoiding barriers etc. The experimental results show that the robot has good mobility.