Hexagonal hexapod robot foot-modeled dynamics simulation analysis

Abstract

In this paper, to solve the problems of hexapod robot's foot frequent collisions with hard ground impact and other issues, we establish the foot-modeled and its parameters identification in the geological environment, and compile Fortran language which is based on the foot-modeled with the secondary development program by the ADAMS dynamic link and the overall hexagonal hexapod robot dynamics simulates in co-simulation of MATLAB and ADAMS. Through the analysis of the simulation results, the correctness and universality of the foot-modeled and the geological environment is verified.