The Motion Planning of Hexapod Robot in the Non-Structurual Condition

摘要

The hexapod robot has the advantages of flexible control and strong ground adaptability, and is very suitable for unstructured ground environments. In this paper, based on the hexagonal hexapod robot movement in unstructured terrain, we propose a differential method that could determine the location information of the body and the end of foot when the robot is walking in unstructured environment, A D-H coordinate system is built based on the forward and inverse kinematics solver. By conducting homogeneous transformation to the respective coordinates of each leg, the robot achieved its gait planning strategies with self- recognition in the non-structural terrain. Satisfactory results obtained from ADAMS simulation have lay the foundation for the practical application.