Free Gait Generation Algorithm for a Hexapod Robot Based on Discretization
In order to imitate biological gait subtly and develop the movement potential of the hexapod robot comprehensively, a discrete model of stepping is built based on the discretization of foot workspaces and the fusion of central pattern generators (CPG) model and reflect model. Based on the stability analysis, the stable state space is constructed and the issue of gait planning is transformed into the reordering problem of states in the stable state space. Then a new free gait generation algorithm is proposed and different gait experiments tailored for a hexapod robot are conducted to verify the effectiveness of the algorithm. The results show the free gait generation algorithm can generate stable gait which accords with motion characteristics of creatures according to the given speed to achieve movements flexibly.
NETL
NSTL
万方数据
维普
