The invention belongs to the technical field of walking of multi-foot robots, and particularly relates to a four-foot gait walking method of a hexapod robot. The two sides of the robot are each provided with three walking feet, the walking feet on one side are marked as a front walking foot A, a middle walking foot A and a rear walking foot A from front to back, the walking feet on the other side are marked as a front walking foot B, a middle walking foot B and a rear walking foot B from front to back, the middle walking foot A moves forwards relative to the gravity center position of the robot, and the middle walking foot B moves backwards relative to the gravity center position of the robot. The rear walking foot A and the middle walking foot B form a group and are marked as a first cooperative pair foot; the middle walking foot A and the front walking foot B form a group and are marked as a second cooperative pair foot; the front walking foot A and the rear walking foot B form a group and are marked as a third cooperative pair foot; the advancing striding sequence of the robot is that the first cooperative pair foot, the second cooperative pair foot and the third cooperative pair foot circularly act; the retreating striding sequence is that the second cooperative foot alignment, the first cooperative foot alignment and the third cooperative foot alignment circularly act.
本发明属于多足机器人行走技术领域,具体涉及一种六足机器人四足步态行走方法;机器人两侧各布置三条行走足,一侧的行走足从前到后标记为前行走足A、中行走足A、后行走足A,另一侧的行走足从前到后标记为前行走足B、中行走足B、后行走足B,中行走足A相对机器人重心位置前移,中行走足B相对机器人重心位置后移;后行走足A和中行走足B为一组,标记为第一协同对足;中行走足A和前行走足B为一组,标记为第二协同对足;前行走足A和后行走足B为一组,标记为第三协同对足;机器人前进跨步顺序为第一协同对足、第二协同对足、第三协同对足循环动作;后退跨步顺序为第二协同对足、第一协同对足、第三协同对足循环动作。
Four-foot gait walking method of hexapod robot
一种六足机器人四足步态行走方法
12.12.2023
Patent
Elektronische Ressource
Chinesisch
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