高技术通讯（英文版）2009，Vol.15Issue(1)：7-12,6.DOI:10.3772/j.issn.1006-6748.2009.01.002
A gait planning method applied to hexapod biomimetic robot locomotion
A gait planning method applied to hexapod biomimetic robot locomotion
摘要
Abstract
In order to fulfill the goal of autonomous walking on rough terrain, a distributed gait planning method applied to hexapod biomimetic robot locomotion is proposed based on the research effort of gait coordination mechanism of stick insect. The mathematical relation of walking velocity and gait pattern was depicted, a set of local rules operating between adjacent legs were put forward, and a distributed network of local rules for gait control was constructed. With the interaction of adjacent legs, adaptive adjustment of phase sequence fluctuation of walking legs resulting from change of terrain conditions or variety of walking speed was implemented to generate statically stable gait. In the simulation experiments, adaptive adjustment of inter-leg phase sequence and smooth transition of velocity and gait pattern were realized, and static stableness was ensured simultaneously, which provided the hexapod robot with the capability of walking on rough terrain stably and expeditiously.关键词
hexapod robot/gait planning/free gait/local rulesKey words
hexapod robot/gait planning/free gait/local rules分类
信息技术与安全科学引用本文复制引用
Chen Fu,Yan Jihong,Zang Xizhe,Zhao Jie..A gait planning method applied to hexapod biomimetic robot locomotion[J].高技术通讯（英文版）,2009,15(1):7-12,6.基金项目
Supported by the National High Technology Research and Development Programme of China (No. 2006AA04Z245) and by the Program for Changjiang Scholars and Innovative Research Team in University of China (PCSIRT) (IRT0423). （No. 2006AA04Z245）
