Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment

摘要：

　　Hexapod robots have stronger adaptability to dynamic unknown environment than wheeled or trucked ones due to their flexibility.In this paper,a control strategy based on rolling gait and trajectory planning that enables a hexapod robot to walk in dynamic environment is proposed.The core content of the control strategy is to constantly change the gait and trajectory according to the dynamic environment and predicted stability margin of robot.Kalman filter is employed to compute predicted zero moment point (ZMP) monitoring the stability of robot in order to keep balance with adjusting gait and trajectory.A hierarchical control architecture consisting of high-level gait planner,low-level trajectory planner,joint servo controller and compliance controller is presented.The control strategy is applied to a hexapod robot engaging to disaster rescue.Experiment results show the efficiency of our control strategy over challenging terrain.

关键词： Rolling planning Hexapod robot Stability control Kalman filter

作者: Guiyang Xin Hua Deng Guoliang Zhong Hengsheng Wang

作者单位: School of Mechanical and Electrical Engineering, Central South Universiy,Changsha 410083, Hunan, China;State Key Laboratory of High-Performance Complex Manufacturing,Central South University, Changsha 410083, Hunan, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 23-33

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）