Foot Trajectory Planning and Simulation for a Hexapod Robot

Abstract

To improve the rising-falling character and the walking stability of the hexapod robot, on the basis of its kinematics analysis, this paper presents its foot trajectory planning on the flat ground without obstacles. The cycloid function is used to generate the horizontal and vertical foot trajectory respectively, and a modified cycloid function is used to make the acceleration curve of the joints more smooth and successive, the trajectory and drive moment of each joint is calculated by simulation.