Hexapod robot fault tolerant gait on slope and simulation verification

Currently, hexapod robot has been widely used in the field of outdoor detection and nuclear power disaster relief because of its adaptability to terrain, excellent movement performance and redundant fault tolerance. In this paper, fault-tolerant gait and motion planning method on the slope are researched. Firstly, the kinematics model of the robot on the slope is established, and the Jacobian matrix mapping the foot end velocity and joint velocity is derived, which is the basis of the robot movement. Then the phase sequence of the robot with one leg fault is planned to solve the problem of leg phase coordination. After then, the adjustment strategy of the centre of gravity on the slope is planned, which can effectively improve the stability of the robot. Finally, a simulation is demonstrated to verify the research.