Study on multi-legged walking robot in Huazhong University of Science & Technology

摘要

This paper introduces the research on multi-legged walking robot in Huazhong University of Science & Technology (HUST) over the past ten years. We have been committed to improving the performance of multi-legged walking robots such as versatility, easiness in controllability, intelligence level and excellent environmental adaptability, as well as making them assist human beings to finish some tasks. Our works are divided into four parts in detail: the basic theory, mechanism design, control and simulation systems, and prototype models. The problems we have encountered and the corresponding solutions are discussed in each section. Our aim is to make the multi-legged walking robot have a better performance and complete various tasks independently in the complex environment. Moreover, the development planning of the multi-legged walking robot in the future is discussed.