六边形对称分布六腿机器人的典型步态及其运动性能分析

为了便于在不同地理条件下合理地选择较优的步态，实现稳定高效的智能行走，本文针对一种六边形 对称分布的六腿机器人研究其不同步态的优劣．主要从行走能力、稳定性和能耗3 个角度对六边形对称结构的六腿 机器人在同样占空比下的3 种静态稳定周期步态进行了比较研究，此外还简要分析了其越障能力和穿越窄道的能 力．研究分析结果表明3 种步态（横向昆虫式摆动步态、哺乳动物式踢腿步态和混合步态）在不同条件下各有优劣： 横向昆虫式摆动步态在能耗和越障能力方面较其他两种步态有优势；而混合步态在稳定性上最具优势，其它能力处 于中间；哺乳动物式踢腿步态则可穿越窄道，步长上较昆虫摆动步态略好．本文的研究工作为六边形对称结构的六 腿机器人在未知复杂地貌环境下的智能行走提供了重要参考．

Typical Gaits and Motion Analysis of a Hexagonal Symmetrical Hexapod Robot

In order to select optimal gait and realize high efficient intelligent walking under different terrain conditions, various possible gaits of a hexagonal symmetrical hexapod robot are investigated. The study mainly focuses on three aspects: walking ability, stability and energy consumption of three static stable and periodic walking gaits. On these aspects, three gaits of hexagonal symmetrical hexapod robot are compared with same duty factor. Moreover, the obstacle-overcoming ability and narrow way passing ability are analyzed briefly. Our study shows that these three gaits, i.e. insect-wave gait, mammal kick-off gait and mixed gait, have their corresponding advantages and disadvantages under different conditions. The insect-wave gait consumes less energy and is more stable than the other two while overcoming obstacles; the mixed gait is the best for keeping stable locomotion, but stays in the middle among three gaits when talking about other abilities; the mammal kick-off gait can pass through narrower way than others, and has longer possible stride than insect-wave gait. Our research provides a good reference for intelligent walking of hexagonal symmetrical hexapod robots in unknown and complex terrains.