首页|期刊导航|高技术通讯（英文版）|A control structure for the autonomous locomotion on rough terrain with a hexapod robot
高技术通讯（英文版）2010，Vol.16Issue(3)：311-317,7.DOI:10.3772/j.issn.1006-6748.2010.03.015
A control structure for the autonomous locomotion on rough terrain with a hexapod robot
A control structure for the autonomous locomotion on rough terrain with a hexapod robot
摘要
Abstract
A motion control structure used for autonomous walking on uneven terrain with a hexapod biomimetic robot is proposed based on function-behavior-integration.In the gait planning level, a set of local rules operating between adjacent legs were put forward and the theory of finite state machine was employed to model them; further, a distributed network of local rules was constructed to adaptively adjust the fluctuation of inter-leg phase sequence.While in the leg-end trajectory planning level, combined polynomial curve was adopted to generate foot trajectory, which could realize real-time control of robot posture and accommodation to terrain conditions.In the simulation experiments, adaptive regulation of inter-leg phase sequence, omnidirectional locomotion and ground accommodation were realized, moreover, statically stable free gait was obtained simultaneously, which provided hexapod robot with the capability of walking on slightly irregular terrain reliably and expeditiously.关键词
hexapod robot/rough terrain walking/motion planning/free gait/leg-end trajectory planningKey words
hexapod robot/rough terrain walking/motion planning/free gait/leg-end trajectory planning分类
信息技术与安全科学引用本文复制引用
Chen Fu ,Zang Xizhe,Yan Jihong,Zhao Jie..A control structure for the autonomous locomotion on rough terrain with a hexapod robot[J].高技术通讯（英文版）,2010,16(3):311-317,7.基金项目
Supported by the High Technology Research and Development Programme of China(2006AA04Z245) and the Program for Changjiang Scholars and Inno-vative Research Team in University (PCSIRT) ( IRT0423 ). （2006AA04Z245）
