| Author Name | Affiliation | | ChenPu | State Key Lab of Robotics and System,Harbin Institute of Technology,Harbin 150001,China | | ZhaoJie | State Key Lab of Robotics and System,Harbin Institute of Technology,Harbin 150001,China | | ZhangXiJie | State Key Lab of Robotics and System,Harbin Institute of Technology,Harbin 150001,China | | 闫继宏 | State Key Lab of Robotics and System,Harbin Institute of Technology,Harbin 150001,China |
|
| Abstract: |
| In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.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 multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously. |
| Key words: multi-legged robot rough terrain walking free gait local rules inter-leg phase sequence |
| DOI：10.11916/j.issn.1005-9113.2011.02.021 |
| Clc Number:TP242 |
| Fund: |
