J4 ›› 2014, Vol. 11 ›› Issue (2): 176-187.doi: 10.1016/S1672-6529(14)60041-X
Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain
He Zhang, Yubin Liu, Jie Zhao, Jie Chen, Jihong Yan
- State Key Lab of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
Development of a Bionic Hexapod Robot for Walking on Unstructured Terrain
He Zhang, Yubin Liu, Jie Zhao, Jie Chen, Jihong Yan
- State Key Lab of Robotics and System, Harbin Institute of Technology, Harbin 150080, P. R. China
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.