TY - GEN
T1 - Turning gait planning and simulation validation of a hydraulic hexapod robot
AU - Gao, Haibo
AU - Jin, Ma
AU - Liu, Yiqun
AU - DIng, Liang
AU - Yu, Haitao
AU - Deng, Zongquan
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/11/24
Y1 - 2015/11/24
N2 - Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based on cycloid during swing phase is planned, and the foot trajectory of support phase is also planned. A turning gait can be divided into the first half cycle and the second half cycle, and the turning gait based on tripod gait of the hexapod robot is planned. A virtual simulation platform for the hexapod robot is developed based on Vortex software. The platform consists of robot model module, manipulator and control module, terrain model module and foot-terrain interaction module. The simulation process is presented, and the turning gait is realized on the simulation platform. Finally, the simulation results show that the foot trajectory curves and the joint angle curves are smooth, and there is no conflict between the curves of six legs. The rationality and feasibility of the proposed method has been verified.
AB - Gait planning is an important part of robotics research, and turning gait is an important and useful walking gait of a hexapod robot. But researches on turning gait of hexapod robots are limited. This paper presents the structure of a hydraulic hexapod walking robot. The coordinate of the leg is defined, and the positive and inverse kinematic equation of the leg is established. Foot trajectory based on cycloid during swing phase is planned, and the foot trajectory of support phase is also planned. A turning gait can be divided into the first half cycle and the second half cycle, and the turning gait based on tripod gait of the hexapod robot is planned. A virtual simulation platform for the hexapod robot is developed based on Vortex software. The platform consists of robot model module, manipulator and control module, terrain model module and foot-terrain interaction module. The simulation process is presented, and the turning gait is realized on the simulation platform. Finally, the simulation results show that the foot trajectory curves and the joint angle curves are smooth, and there is no conflict between the curves of six legs. The rationality and feasibility of the proposed method has been verified.
KW - foot trajectory
KW - hexapod robot
KW - hydraulic drive
KW - simulation validation
KW - turning gait
UR - https://www.scopus.com/pages/publications/84962516314
U2 - 10.1109/FPM.2015.7337231
DO - 10.1109/FPM.2015.7337231
M3 - 会议稿件
AN - SCOPUS:84962516314
T3 - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
SP - 842
EP - 847
BT - Proceedings of 2015 International Conference on Fluid Power and Mechatronics, FPM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th International Conference on Fluid Power and Mechatronics, FPM 2015
Y2 - 5 August 2015 through 7 August 2015
ER -