Research on Biologically Inspired Hexapod Robots Gait and Path Planning
Realistically there are many robot joints in the biologically inspired hexapod robot, so they will generate many complexities in the calculations of the gait and the path planning and the control variables. Facing this status quo, we mainly adopt Solidworks as well as MSC.ADAMS to simulate and analyze the prototype model of the robot. By the simulations on our design, the applicability of the tripod gait is validated, and the scheme which uses cubic spline curve as the endpoint of foots path is feasible. In this paper, the simulation principles, methods, and processes of the hexapod robot are illustrated. Finally, we find a methodology to get the robot inverse solution in ADAMS, and simplify the theoretical calculation, and further more improve the efficiency of the design.
LUO Qingsheng ZHANG Hui HAN Baoling ZAHO Xiaochuan
School of Mechanical-electronic Engineering,Beijing Institute of Technology,Beijing,100081,China School of Mechatronical Engineering,Beijing Institute of Technology,Beijing,100081,China School of Mechanical and Vehicular Engineering,Beijing Institute of Technology,Beijing,100081,China
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
1546-1550
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）