The motion planning of obstacle avoidance for hexapod robot in the non-structural condition

The hexapod robot, with the advantages of its flexible control and ability to adapt to the ground, is suitable for unstructured ground condition. In this paper, based on the hexagonal hexapod robot movement in unstructured terrain, we proposed a differential method that could determine the location information the body and the end of foot when the robot was 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-identification in the non-structural terrain. Satisfactory results obtained from ADAMS simulation have laid the foundation for the practical application.