仿生六足机器人虚拟模型控制OACSTPCD

Aiming at the motion problem of the bionic hexapod robot,this paper proposes a simple and intuitive motion con-trol method based on Virtual Model Control(VMC).In the VMC framework,a series of virtual elements are installed on the robot joints to generate corresponding virtual forces.The motion mode of the robot legs is divided into two phases,the stance phase and the swing phase.In the stance phase,VMC is used to control the posture of the robot's torso,including the height of the torso and Euler angle.In the swing phase,VMC provides control for the swinging legs to follow the desired trajectory.The robot leg state switching and motion coordination are realized through the state machine.The simulation results show that the designed controller can realize the hexapod robot's tripod gait walking stably.