Journal of South China University of Technology(Natural Science Edition) ›› 2012, Vol. 40 ›› Issue (12): 17-23.

• Mechanical Engineering • Previous Articles     Next Articles

Development and Walking Experiment of Hexapod Robot HITCR-I

Zhao Jie  Zhang He  Liu Yu-bin  Chen Fu   

  1. State Key laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,Heilongjiang,China
  • Received:2012-03-13 Revised:2012-09-03 Online:2012-12-25 Published:2012-11-02
  • Contact: 张赫(1982-) ，男，博士生，主要从事机器人相关技术研究．E-mail:zhanghe0451@gmail．com E-mail:jiezhao@ hit.edu.cn
  • About author:赵杰(1968-) ，男，教授，博士生导师，主要从事机器人技术及相关领域研究．
  • Supported by:

    国家"863”计划重点项目( 2007AA041550) ; 国家自然科学基金资助项目( 51105101) ; 机器人技术与系统国家重点实验室自主课题( SKLRS200901A01，SKLRS200901A03)

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Abstract:

Developed in this paper is a hexapod robot HITCR-I to implement the free walking of hexapod robots on unstructured terrain. In the investigation, first,the structure of robot leg based on four-bar linkage mechanism is designed to realize an omnidirectional motion. Next,in order to further improve the motion performance of the robot,an expression describing the global flexibility of the robot is constructed and is applied to the optimization of structure parameters. Then,based on the idea of function-behavior-integration,the control objective is planned,and a motion controller is constructed. Moreover,by combining the trajectory planning suitable for the leg motion on unstructured terrain and the generation of free gaits based on local rules,effective and steady walking of the robot is achieved. An experiment is finally carried out to verify the walking ability of robot HITCR-I on unstructured terrain.

Key words: hexapod robot, control architecture, unstructured terrain, free gait, trajectory planning

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