The research on bionic crab-liked robot prototype

摘要

This paper introduces the whole developing process and main research techniques of the experiment prototype of crab-liked robot. It mainly includes the following parts: the shape analysis of crab, the establishment of robot model, kinematics analysis, the gaits study of eight-legged robot, design of machine framework, control system design and the experiment of the prototype. The bionic machine has eight legs with twenty-four degrees of freedom. As to its control mode, we adopt multi-layers distribution and recursion style that based on DSP. We take the dual-four legs gait as its radical gait. We made the walking experiment of the prototype after the mono-leg test. During the experiment the prototype can go ahead and back, run amuck, turn off and get over obstacles. It provides the theoretic and practical basis for the further research of bionic multi-leg robot.