Gait analysis and simulation of bionics crab-like robot with ADAMS

摘要

In control of multilegged robot walking, the proper selection of the gaits plays an important role in the fast moving of the robot. After summing up the crab -like robot gait and analyzing the kind of waveform gait further, we can conclude that when the robot walking with double four-legged gaits, both requests of the speed and stability of the robot can be met. By using the ADAMS virtual prototype software to simulate the selected gait globally, the simulation verifies the rationality of the gait planning. Besides, the physical variable graph of related joint is obtained, and which can help to choose the suitable motors,and provide the gist for re searching the dynamic performance further.