CN108909872A - The imitative spider robot of six foot of one kind and its gait planning method - Google Patents
The imitative spider robot of six foot of one kind and its gait planning method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention discloses the imitative spider robot of six foot of one kind and its gait planning methods, the robot includes trunk, end cap, walking mechanism, operating platform and drive system, walking mechanism is bolted on trunk, operating platform and drive system are placed on torso interior, end cap is mounted on trunk, and operating platform and drive system are closed；Robot trunk is designed using diamond structure, and walking mechanism is made of six identical legs for being evenly distributed on trunk two sides, and every leg is designed to the concatenated form of three-link structure, and every leg includes three podomeres and three joints.Compact overall structure of the present invention, reliable performance, movement flexibly, to the adaptable of various complicated landforms, multiple fields can be widely applied to.
Description
Technical field
The invention belongs to bio-robot technical fields, and in particular to the imitative spider robot of six foot of one kind and its gait planning
Method.
Background technique
Big data and intelligent epoch have arrived, and scientific and technological level is maked rapid progress, and the function of robot is stronger and stronger,
All trades and professions go deep into intelligence machine Man's Demands extensively increasingly.Multifeet walking robot is especially the imitative spider robot of six foots
Flexibility by its powerful adaptive capacity to environment, superelevation is shown one's talent in the robot of numerous types, is become everybody and is closed
The hot spot of note.In the environment of some relative risks, be usually utilized to execute highly difficult task, be widely used in industry, space flight,
The multinomial field such as military affairs, rescue and relief work sufficiently shows its wide application prospect.It is compared with other countries, China is to polypody
The search time of mobile robot is relatively short, in recent years, sufficient formula mobile robot is held by domestic some colleges and universities and unit
Continue continuous research and probe, is obviously improved so that the technical level of polypody mobile robot has, however to complicated landform
Adaptability on there is also very big deficiencies, or there are certain gaps with other advanced multi-foot robots.Thus, the present invention couple
It must be theoretical value and engineer application meaning that the research of imitative spider robot, which has,.
Summary of the invention
Purpose：To solve the deficiencies in the prior art, the imitative spider robot of six foot of one kind and its gait planning method are provided, it should
The imitative spider robot compact overall structures of six foots, reliable performance, movement flexibly, to the adaptable of various complicated landforms, can be wide
General applies in multiple fields.
Technical solution：In order to solve the above technical problems, the technical solution adopted by the present invention is：
The imitative spider robot of six foot of one kind, it is characterised in that：The robot includes trunk, end cap, walking mechanism, operation
Platform and drive system, the walking mechanism are bolted on trunk, and the operating platform and drive system are placed on
Torso interior, the end cap are mounted on trunk, and operating platform and drive system are closed.
The imitative spider robot of six foots, it is characterised in that：The robot trunk uses diamond structure, among trunk
Part upper and lower surface inwardly cuts off a circular groove, and upper grooves are mainly used for arranging that the operating platform and drive system are hard
Part, and the interface with upper-level system is provided；Circumferentially array is evenly distributed on centainly six circular holes for connecting walking mechanism
Above the fan-shaped platform of thickness, one end of walking mechanism hingedly forms base joint, the sector of marginal position by bolt and trunk
Equally circumferentially array is uniformly distributed platform, and is integrated with trunk main body.
The imitative spider robot of six foots, it is characterised in that：The robot running gear is to be evenly distributed on trunk
Six of two sides identical leg L1, L2, L3, R1, R2, R3, every leg are three-link structure type, every leg include three podomeres and
Three joints, three podomeres are base pitch, meropodium and tibia；Three joints are base joint, hip joint and knee joint；Every leg includes
Three joints, first joint are that the revolute pair that leg structure is connected with trunk structure is known as base joint；Second joint is base
It saves the revolute pair connected with meropodium and is known as hip joint, third joint is that the revolute pair that meropodium is connected with tibia is known as knee joint,
Each joint has one degree of freedom.
Preferably, the imitative spider robot of six foots, it is characterised in that：Base pitch in the leg of the robot,
Meropodium, tibia length ratio be 0.09：0.455：0.455, leg total length is 1000mm, is calculated according to the above ratio
The length of a length of 90mm of base pitch, meropodium and tibia is 455mm.
The present invention also provides the gait planning methods of the imitative spider robot of six foots, it is characterised in that：The imitative spider of six foots
The representative regular gait of spider robot can be divided into three kinds by the leg number of support simultaneously：Tripodia gait, four-footed gait and
Five sufficient gaits；
The tripodia gait expression of the imitative spider robot of six foots is in the number of the leg of support phase at the arbitrary motion moment
There are three, under the premise of keeping stablizing in the walking of imitative spider robot, a kind of most fast gait of tripodia gait walking speed；It will
Six legs of imitative spider robot are divided into two groups, and the Ith group is L1, R2, L3, and the IIth group is R1, L2, R3, and any one group is ok
It swings in advance, below by taking the Ith group first swings as an example, several stages when to robot with the walking of tripodia gait do following elaboration,
Illustrate the gait planning method, steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is swung to direction of travel, the IIth group of leg support body center of gravity Forward；
(3) phase III：Ith group of leg lands, and the IIth group of leg starts to swing forward；
(4) fourth stage：The Ith group of leg is withdrawn, robot restores stationary state；
The four-footed gait expression of the imitative spider robot of six foots is in the number of the leg of support phase at the arbitrary motion moment
Have four, imitative spider robot be between tripodia, five foot gaits with the speed of four-footed gait motion, speed, stability and
Bearing capacity rather moderate；Six legs of imitative spider robot are divided into three groups, every group of two legs, the Ith group of leg includes L1, R2,
IIth group of leg includes L2, R3, and the IIIth group of leg includes R1, R3, and any one group all can first swing, and is first swung with the Ith group of leg below and is
Example, several stages when to robot with the walking of four-footed gait do following elaboration, illustrate the gait planning method, steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is first swung, the IIth group, the IIIth group of leg support robot body center of gravity Forward；
(3) phase III：IIth group of leg is swung, the Ith group, the IIIth group of leg support robot body center of gravity Forward；
(4) fourth stage：IIIth group of leg is swung, the Ith group, the IIth group of leg support body center of gravity Forward；
(5) the 5th stages：Imitative spider robot restores static.
Fluctuation gait is also known as five sufficient gaits, and five sufficient gait expressions of the imitative spider robot of six foots are at the arbitrary motion moment
The number of leg in support phase has five；Relative to tripodia, four-footed gait, five sufficient gait walking speeds of spider robot are imitated
It is minimum, but the stability margin and bearing capacity of this gait are all the largest；The imitative spider robot of six foots is to fluctuate gait
When travelling forward, six legs successively swing and recycle, and only swing one leg every time；It is walking for the ease of control and robot
When keep harmony, six legs of imitative spider robot are swung according to L1 → R1 → L2 → R2 → L3 → R3 sequence.
Pivot turn gait realizes the pivot turn of robot with five sufficient gaits, because this gait is not in three
Sufficient gait like that during the motion centre-of gravity shift and the phenomenon that lead to unstability, robot can be guaranteed well in motion process
In stability；Within a period of motion, the sufficient end position checker of six legs of spider robot is imitated：When starting, L1
Leg starts to swing and fall on the sufficient end target point of final position posture, remaining leg foot end position does not change, and body turns over θ/6；It connects
L2 leg start to swing and fall on the sufficient end target point of position and attitude, remaining leg foot end position does not change, and body turns over θ/6 again；
Certain angle, the body original place rotation of final robot are rotated through by L3 → R1 → R2 → R3 → L1 → L2 sequence alternate later
θ angle.
Beneficial effect：Six foot provided by the invention imitates spider robot and its gait planning method, compact overall structure, property
Energy is reliable, movement is flexible, to the adaptable of various complicated landforms, can be widely applied to multiple fields.With six foot of others
Robot compares, and has the following advantages that：
1, the working space at imitative spider robot foot end of the invention is compact-sized, without cavity and cavity, and single leg
Working space is larger, and flexibility ratio is preferable.
2, the gait of imitative spider robot of the invention can preferably cope with various complexity to the adaptable of complicated landform
Environment.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is leg mark schematic diagram of the invention；
Fig. 3 is torso sketch of the invention；
Fig. 4 is leg schematic diagram of the invention；
Fig. 5 is tripodia gait leg phase diagram of the invention；
Fig. 6 is tripodia gait traveling schematic diagram of the invention；
Fig. 7 is four-footed gait leg phase diagram of the invention；
Fig. 8 is four-footed gait traveling schematic diagram of the invention；
Fig. 9 is fluctuation gait leg phase diagram of the invention；
Figure 10 is fluctuation gait traveling schematic diagram of the invention；
Figure 11 is that original place of the invention is turn-taked gait traveling schematic diagram；
Meaning marked in the figure：1, trunk, 2, end cap, 3, base pitch, 4, meropodium, 5, tibia, 6, fan-shaped platform.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As Figure 1-Figure 4, the imitative spider robot of six foot of one kind, the robot includes trunk 1, end cap 2, vehicle with walking machine
Structure, operating platform and drive system, the walking mechanism are bolted on trunk 1, the operating platform and driving system
System is placed on inside trunk 1, and the end cap 2 is mounted on trunk 1, and operating platform and drive system are closed.
As shown in Figure 1, Figure 3, the robot trunk 1 is designed using diamond structure, and trunk middle section upper and lower surface is equal
Inwardly one circular groove of excision, upper grooves are mainly used for arranging the operating platform and drive system hardware, and provide and its
The interface of his upper-level system, connecting six circular holes of base pitch, circumferentially array is evenly distributed on certain thickness fan-shaped platform 6
Face, one end of base pitch 3 hingedly form base joint by bolt and trunk, the fan-shaped platform 6 of marginal position equally circumferentially array
It is uniformly distributed, and is integrated with trunk main body.
As Figure 1 and Figure 4, the robot running gear is six identical legs by being evenly distributed on 1 two sides of trunk
L1, L2, L3, R1, R2, R3 composition, every leg are designed to the concatenated form of three-link structure, and every leg is by three podomere (bases
Section 3, meropodium 4 and tibia 5) and three joints (base joint, hip joint and knee joint) compositions, every leg include three joints, the
One joint is that the revolute pair that leg structure is connected with 1 structure of trunk is known as base joint；Second joint is base pitch 3 and meropodium 4
The revolute pair of connection is known as hip joint, and third joint is that the revolute pair that meropodium 4 and tibia 5 connect is known as knee joint, Mei Geguan
Section has one degree of freedom.
As shown in Figure 1, the length ratio of base pitch 3 in the leg of the robot, meropodium 4, tibia 5 is 0.09：0.455：
0.455, leg total length is 1000mm, and a length of 90mm of base pitch 3, the length of meropodium 4 and tibia 5 is calculated according to the above ratio
It is 455mm.
As shown in Figure 11-Figure 5, the representative regular gait of the hexapod robot can be with by the leg number supported simultaneously
It is divided into three kinds：The sufficient gait of tripodia gait, four-footed gait and five.
As shown in Figure 5,6, the tripodia gait expression of the imitative spider robot of six foots is in branch at the arbitrary motion moment
The number for supportting the leg of phase has three, and under the premise of keeping stablizing in the walking of imitative spider robot, tripodia gait walking speed is most
A kind of fast gait；Six legs of imitative spider robot are divided into two groups, the Ith group is L1, R2, L3, and the IIth group is R1, L2, R3,
Any one group can swing in advance, several ranks below by taking the Ith group first swings as an example, when to robot with the walking of tripodia gait
Section does following elaboration, illustrates the gait planning method, steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is swung to direction of travel, the IIth group of leg support body center of gravity Forward；
(3) phase III：Ith group of leg lands, and the IIth group of leg starts to swing forward；
(4) fourth stage：The Ith group of leg is withdrawn, robot restores stationary state.
As shown in figure 5, grey represents support phase, white indicates to swing the sequence that lands of six legs when tripodia gait is advanced
Phase；For imitative spider robot walking schematic diagram as shown in fig. 6, red leg is swing phase in figure, black leg is support phase.It is transported at one
In the dynamic period, the sufficient end position of two groups of legs of imitative spider robot is alternately transformed, and when starting, the Ith group of leg foot end goes ahead half
A step-length, there is no change for the IIth group of leg foot end position at this time；And then the IIth group of leg is gone ahead a step-length, the IIth group of leg foot
End position is constant, and the Ith group of leg and the IIth group of leg replace a step-length of advancing forward later；Finally, the Ith group of leg foot end continues to be expert at
Half of step-length is moved upwards into side, the IIth group of leg foot end position is constant, finally imitates spider robot and restores stationary state.
As shown in Figure 7, Figure 8, the four-footed gait expression of the imitative spider robot of six foots is at the arbitrary motion moment
The number of the leg of support phase has four, and imitative spider robot is between tripodia, five sufficient gaits with the speed of four-footed gait motion,
Its speed, stability and bearing capacity rather moderate；Six legs of imitative spider robot are divided into three groups, every group of two legs, the Ith
Group leg includes L1, R2, and the IIth group of leg includes L2, R3, and the IIIth group of leg includes R1, R3, and any one group all can first swing, below with the
For I group of leg is first swung, several stages when to robot with the walking of four-footed gait do following elaboration, illustrate the gait planning side
Method, steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is first swung, the IIth group, the IIIth group of leg support robot body center of gravity Forward；
(3) phase III：IIth group of leg is swung, the Ith group, the IIIth group of leg support robot body center of gravity Forward；
(4) fourth stage：IIIth group of leg is swung, the Ith group, the IIth group of leg support body center of gravity Forward；
(5) the 5th stages：Imitative spider robot restores static.
As shown in fig. 7, grey represents support phase, white indicates to swing the sequence that lands of six legs when four-footed gait is advanced
Phase；For robot walking schematic diagram as shown in figure 8, red leg is swing phase in figure, black leg is support phase.In a period of motion
Interior, the sufficient end position of three groups of legs of imitative spider robot is alternately transformed.When starting, the Ith group of leg foot end is gone ahead half of step-length,
The IIth group of leg and the IIIth group of leg foot end position are constant at this time；Then the IIth group of leg is to previous step-length, the Ith group of leg and the IIIth group of leg
Sufficient end position is constant, moves a step in a forward direction by the sequence alternate of the IIIth group of leg, the Ith group of leg and the IIth group of leg later
It is long；Finally, the Ith group of leg foot end moves half of step-length in a forward direction, the IIth group of leg and the IIIth group of leg foot end position are constant, imitate
Spider robot restores static.
As shown in Figure 9, Figure 10, fluctuation gait is also known as five sufficient gaits, five sufficient gaits of the imitative spider robot of six foots
Indicate there are five in the number that the arbitrary motion moment is in the leg of support phase；Relative to tripodia, four-footed gait, spider robot is imitated
Five sufficient gait walking speeds it is minimum, but the stability margin and bearing capacity of this gait are all the largest；The imitative spider of six foots
When being travelled forward with fluctuating gait, six legs successively swing and recycle for robot, only swing one leg every time；For the ease of
Control and robot keep harmony when walking, imitate six legs of spider robot according to L1 → R1 → L2 → R2 → L3 → R3
Sequence swung.Imitative spider robot is to fluctuate when gait is advanced the sequence that lands of six legs as shown in figure 9, wherein shade
Part indicates that support phase, blank parts indicate swing phase；The walking schematic diagram for fluctuating gait is as shown in Figure 10, and red leg is in figure
Swing phase, black leg are support phase.Within a period of motion, the sufficient end position for imitating six legs of spider robot alternately becomes
It changes.When starting, L1 leg foot end is gone ahead half of step-length, and remaining leg foot end position does not change；Then R1 leg goes ahead one
A step-length, remaining leg foot end position is constant, later by L2 → R2 → L3 → R3 → L1 → R1 ... sequence alternate in advance side
Move upwards a step-length；Finally, the leg foot end R3 continues to move half of step-length in a forward direction, remaining leg foot end is constant, machine
Device people restores static.The distance that robot trunk is moved forward in one cycle is moved by the leg foot end L1 in direction of travel
One step-length is determined.
As shown in figure 11, pivot turn gait, the present invention realize the pivot turn of robot with five sufficient gaits, because this
Kind of gait be not in tripodia gait like that during the motion centre-of gravity shift and the phenomenon that lead to unstability, can guarantee well
The stability of robot during the motion；Within a period of motion, the sufficient end position for imitating six legs of spider robot is handed over
For transformation：When starting, L1 leg starts to swing and fall on the sufficient end target point of final position posture, remaining leg foot end position does not change
Become, trunk turns over θ/6；Then L2 leg starts to swing and fall on the sufficient end target point of position and attitude, remaining leg foot end position does not change
Become, trunk turns over θ/6 again；Certain angle, final machine are rotated through by L3 → R1 → R2 → R3 → L1 → L2 sequence alternate later
The trunk original place of device people rotates θ angle.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. the imitative spider robot of six foot of one kind, it is characterised in that：The robot includes trunk, end cap, walking mechanism, operates and put down
Platform and drive system, the walking mechanism are bolted on trunk, and the operating platform and drive system are placed on body
Dry internal, the end cap is mounted on trunk, and operating platform and drive system are closed.
2. the imitative spider robot of six foots according to claim 1, it is characterised in that：The robot trunk uses diamond shape knot
Structure, trunk middle section upper and lower surface inwardly cut off a circular groove, and upper grooves are mainly used for arranging the operating platform
With drive system hardware, and provide and the interface of upper-level system；Circumferentially array is equal for six circular holes for connecting walking mechanism
Even to be distributed in above certain thickness fan-shaped platform, one end of walking mechanism hingedly forms base joint, side by bolt and trunk
Equally circumferentially array is uniformly distributed the fan-shaped platform of edge position, and is integrated with trunk main body.
3. the imitative spider robot of six foots according to claim 1, it is characterised in that：The robot running gear is uniform
Six identical leg L1, L2, L3, R1, R2, R3 of trunk two sides are distributed in, every leg is three-link structure type, and every leg includes
Three podomeres and three joints, three podomeres are base pitch, meropodium and tibia；Three joints are base joint, hip joint and knee joint；
First joint is that the revolute pair that leg structure is connected with trunk structure is known as base joint；Second joint is that base pitch and meropodium connect
The revolute pair connect is known as hip joint, and third joint is that the revolute pair that meropodium is connected with tibia is known as knee joint, and base joint, hip close
Section and each joint of knee joint have one degree of freedom.
4. the imitative spider robot of six foots according to claim 3, it is characterised in that：Base pitch, stock in the leg of the robot
It saves, the length ratio of tibia is 0.09：0.455：0.455, leg total length is 1000mm, a length of 90mm of base pitch, meropodium and shin
The length of section is 455mm.
5. the gait planning method of the imitative spider robot of six foots according to claim 1-4, it is characterised in that：Six
The representative regular gait of the imitative spider robot of foot can be divided into three kinds by the leg number of support simultaneously：Tripodia gait, four-footed
Gait and five sufficient gaits.
6. the gait planning method of the imitative spider robot of six foots according to claim 5, it is characterised in that：Six foot is imitative
The tripodia gait expression of spider robot has three in the number that the arbitrary motion moment is in the leg of support phase, in imitative spider machine
It is kept when people walks under the premise of stablizing, a kind of most fast gait of tripodia gait walking speed；By six of imitative spider robot
Leg is divided into two groups, and the Ith group is L1, R2, L3, and the IIth group is R1, L2, R3, and any one group can swing in advance, below with the Ith
For group is first swung, several stages when to robot with the walking of tripodia gait do following elaboration, illustrate the gait planning method,
Steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is swung to direction of travel, the IIth group of leg support body center of gravity Forward；
(3) phase III：Ith group of leg lands, and the IIth group of leg starts to swing forward；
(4) fourth stage：The Ith group of leg is withdrawn, robot restores stationary state.
7. the gait planning method of the imitative spider robot of six foots according to claim 5, it is characterised in that：Six foot is imitative
The four-footed gait expression of spider robot has four in the number that the arbitrary motion moment is in the leg of support phase, by imitative spider machine
Six legs of people are divided into three groups, and every group of two legs, the Ith group of leg includes L1, R2, and the IIth group of leg includes L2, R3, and the IIIth group of leg includes
R1, R3, any one group all can first swing, several when to robot with the walking of four-footed gait below by taking the Ith group of leg is first swung as an example
A stage does following elaboration, illustrates the gait planning method, steps are as follows：
(1) first stage：Six legs of robot land, and are in starting state；
(2) second stage：Ith group of leg is first swung, the IIth group, the IIIth group of leg support robot body center of gravity Forward；
(3) phase III：IIth group of leg is swung, the Ith group, the IIIth group of leg support robot body center of gravity Forward；
(4) fourth stage：IIIth group of leg is swung, the Ith group, the IIth group of leg support body center of gravity Forward；
(5) the 5th stages：Imitative spider robot restores static.
8. the gait planning method of the imitative spider robot of six foots according to claim 5, it is characterised in that：Fluctuate gait again
Claim five sufficient gaits, five sufficient gait expressions of the imitative spider robot of six foots are in the number of the leg of support phase at the arbitrary motion moment
Mesh has five；When being travelled forward with fluctuating gait, six legs successively swing and recycle the imitative spider robot of six foots, every time only
Swing one leg；Harmony is kept when walking for the ease of control and robot, imitates six legs of spider robot according to L1
→ R1 → L2 → R2 → L3 → R3 sequence is swung.
9. the gait planning method of the imitative spider robot of six foots according to claim 8, it is characterised in that：Pivot turn step
State realizes that the pivot turn of robot imitates the foot of six legs of spider robot within a period of motion with five sufficient gaits
End position checker：When starting, L1 leg starts to swing and fall on the sufficient end target point of final position posture, remaining leg foot end position
It sets and does not change, body turns over θ/6；Then L2 leg starts to swing and fall on the sufficient end target point of position and attitude, remaining leg foot end position
It sets and does not change, body turns over θ/6 again；Certain angle is rotated through by L3 → R1 → R2 → R3 → L1 → L2 sequence alternate later,
The body original place of final robot rotates θ angle.
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Cited By (5)
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| CN109795575A (en) * | 2019-02-26 | 2019-05-24 | 华南理工大学 | Hexapod robot system and its motion control method for glass curtain wall detection |
| CN110001814A (en) * | 2019-03-12 | 2019-07-12 | 广东工业大学 | A kind of bionical Multifeet walking robot of small modular |
| CN110077487A (en) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | A kind of eight biped robot of imitative spider |
| CN112015088A (en) * | 2020-09-10 | 2020-12-01 | 哈尔滨理工大学 | Fault-tolerant motion planning method for joint locking fault six-legged robot |
| CN114859947A (en) * | 2022-03-21 | 2022-08-05 | 哈尔滨理工大学 | Fault-tolerant gait planning method of hexapod robot based on rollover performance index analysis |
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| CN112015088A (en) * | 2020-09-10 | 2020-12-01 | 哈尔滨理工大学 | Fault-tolerant motion planning method for joint locking fault six-legged robot |
| CN114859947A (en) * | 2022-03-21 | 2022-08-05 | 哈尔滨理工大学 | Fault-tolerant gait planning method of hexapod robot based on rollover performance index analysis |
| CN114859947B (en) * | 2022-03-21 | 2024-04-05 | 哈尔滨理工大学 | Six-foot robot fault-tolerant gait planning method based on tipping performance index analysis |
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