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Research on Biologically Inspired Hexapod Robot's Gait and Path Planning |
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| Authors: | ZHANG Hui LUO Qing-sheng HAN Bao-ling |
| Affiliation: | 1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China;School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China 2. School of Mechatronical Engineering, Beijing Institute of Technology, Beijing 100081, China 3. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081, China |
| Abstract: | Realistically there are many robot joints in the biologically inspired hexapod r obot, so they will generate many complexities in the calculations of the gait an d the path planning and the control variables. The software Solidworks and MSC.A DAMS are adopted to simulate and analyze the prototype model of the robot. By th e simulations used in our design, the applicability of the tripod gait is valida ted, and the scheme which uses cubic spline curve as the endpoint of foot's path is feasible. The principle... |
| Keywords: | biologically inspired hexapod robot gait planning kinematics simulation virtual prototype |
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