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Bionics-based Optimization of Step-climbing Gait in a Novel Mini-RHex Robot

Journal of Bionic Engineering 2022年第3期19卷 616-628页

作者： Xingguo Song Jiajun Pan Xiaolong Zhang Chunjun Chen Danshan Huang Mechanical Engineering School Southwest Jiaotong UniversityChengdu610031China 41st Detachment Unit 32272Chinese People’s Liberation ArmyDeyang618408China

RHex-style robots can perform manifold moving gaits in different applications,but they have always faced a challenge of climbing up high *** this paper,the bionics-based gait optimization in an RHex-style robot is proposed for climbing steps at different heights,which even enables the robot to climb up the step with 4.2 times of the leg ***,a thoracic flexion is designed in the robot,and an algorithm of adjusting body inclination is proposed to perform the rising stage after placing front legs on top of step,which can be applied in different RHex-style robots with different ***,when the thoracic flexion is implemented,the robot can climb the higher step with the proposed ***,to climbing the higher steps,a claw-shape legs-based algorithm is proposed for robot reaching the higher step and climbing it *** the vital rising stage,when the front legs of the robot have reached the top of the step,the robot can bend the front body downward with its thoracic flexion like a cockroach,and then lift the front and middle legs alternately to move COM up and forward onto the *** simulation analysis is utilized to verify the feasibility of the proposed ***,the step-climbing experiments at different heights are performed in our robot to compare with the existing *** results of simulations and experiments show the superiority of the proposed algorithms for the improved robot due to climbing up the higher steps.

关键词： Mini-RHex robot Climbing gait thoracic flexion Gait optimization Claw-shape legs

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