Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain
Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain作者机构：State Key Lab of Robotics and System Harbin Institute of Technology Harbin 150080 P. R. China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2014年第11卷第2期
页 面：176-187页
核心收录：
学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程]
基 金：Acknowledgment This work is supported by the National Natural Science Foundation (Grant No. 51105101) and the Self-Planned Task of State Key Laboratory of Robotics and System (Grant Nos. SKLRS200901A01 and SKLRS200901A03
主 题：hexapod robot structure optimization posture control force distribution force compensation
摘 要：This paper reports the design methodology and control strategy in the development of a novel hexapod robot HITCR-II that is suitable for walking on unstructured terrain. First, the entire sensor system is designed to equip the robot with the perception of external environment and its internal states. The structure parameters are optimized for improving the dexterity of the robot. Second, a foot-force distribution model and a compensation model are built to achieve posture control. The two models are capable of effectively improving the stability of hexapod walking on unstructured terrain. Finally, the Posture Control strategy based on Force Distribution and Compensation （PCFDC） is applied to the HITCR-II hexapod robot. The experimental results show that the robot can effectively restrain the vibration of trunk and keep stable while walking and crossing over the un- structured terrains.
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