Steady Posture Adjustment of Hexapod Bionic Robot
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摘要: 实现机器人机体姿态的平稳调整是足式机器人作为移动平台完成物资搬运等作业时的重要目标之一。本文通过分析六足机器人姿态的影响因素，研究目标姿态的可调整范围，建立了支撑腿关节与机器人机体姿态之间的动态映射关系，提出了针对六足机器人目标姿态的平稳调整方法。通过仿真验证了有效性。Abstract: It is one of the important goals to realize the steady adjustment of robot body posture when the foot robot is used as a mobile platform to carry out material handling. In this paper, by analyzing the influencing factors of hexapod robot posture, the adjustable range of target posture is studied, the dynamic mapping relationship between the support leg joint and the robot body posture is established, and a smooth adjustment method for the robot target posture is proposed. The effectiveness of the robot posture adjustment method is verified by simulation.
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Key words:
- hexapod robot /
- body posture /
- dynamic mapping /
- posture adjustment
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表 1 机器人机构参数表
结构参数名 符号 基节长度 l1 股节长度 l2 胫节长度 l3 机体节距 L 第i条腿 legi(i=1, 2, …, 6) 跟关节角度 θi1 髋关节角度 θi2 膝关节角度 θi3 机体宽度 W1, W2 
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表 2 实验参数表
结构参数 数值 l1/cm 6 l2/cm 7 l3/cm 15 L/cm 10 W1/cm 4 θi1/(°) -30~30 θi3/(°) -150~0 初始θ2/(°) [10, 10, -100]T 初始θ3/(°) [0, 10, -100]T 初始θ6/(°) [-10, 10, -100]T 初始 
[0, 0, 0]T W2/cm 3 θi2/(°) -90~90 ve/(°·s-1) [25, 25, 18]T
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