Jixie chuandong (Jan 2019)
Gait Planning of Hexapod Walking Robot based on 3-UPU
Abstract
A new hexapod walking robot based on asymmetric 3-UPU is proposed， it has the advantages of large carrying capacity， strong passing ability， easy control and so on. Firstly， the structure of hexapod walking robot is designed， then the stability of the robot and the interference of the legs are considered synthetically， the maximum transverse moving stride is designed. The gait planning of the hexapod walking robot is carried out， including the duty cycle coefficient of the two groups of legs， the order of motion， and the moving stride， the movement trajectory and the equivalent rod length of each branch vary with the movement of the robot.
