关键词: 自动控制技术, 工程仿生学, 六足机器人, 崎岖地形步行, 自由步态, 腿间相序

Abstract:

A novel hexapod biomimetic robot named Spider is fabricated for autonomous navigation under complicated terrain conditions.The mechanical configuration of the robot with capability of omnidirectional locomotion was designed,and the structure parameters were optimized according to the estimation function of mobility;the hardware control system of the robot was constructed in which a ARM chip was used as central controller and a FPGA chip was employed as coprocessor;a walking controller was realized based on functionbehaviorintegration,which was employed to generate statically stable free gait.In the simulations and experiments,the ability of adaptive omnidirectionwalking on irregular terrain of the hexapod robot were testified.

Key words: automatic control technology, engineering bionics, hexapod robot, rough terrain walking, free gait, interleg phase sequence