Motion Simulation of Bionic Hexapod Robot Based on ADAMS/MATLAB Co-simulation

Abstract

Abstract This paper mainly studies the kinematic simulation of hexapod robot when going straight, turning and climbing stairs based on MATLAB and ADAMS. First, the kinematic model of the robot was established based on the D-H method. On this basis, the compound cycloid and half-wave sine function were used to plan the foot trajectory of the robot during straight and turning. Through ADAMS/ MATLAB co-simulation, the hexapod robot has completed the tasks of straight, turning and climbing the stepped terrain. The simulation results show that the planned gait can be more flexible to complete the turning and climbing the stepped ground, and the related results can help the small hexapod robot to quickly verify the gait algorithm and reduce the design development cycle.