Modeling and Simulation of Multi-legged Walking Machine Prototype

摘要

In this paper, a scheme of multi-legged walking machine is put forward accordingly. The mechanical design of the legs and freedom arrangement of the eight legs have been assembled according to the bionics. Based on biologically inspired, we set freedom by abstracting walking leg structure of a crab. Also this design proved that the robot can overturn itself when it was overturned by surf or by other things. In this paper, single leg trajectory planning problem is discussed deeply through presenting the trajectory planning algorithm of polynomial approximation and the kinematics and dynamics of multi-legged robot is simulated using ADAMS.