CN107719508A - A kind of Hexapod Robot and foot control method and gait control method - Google Patents
A kind of Hexapod Robot and foot control method and gait control method Download PDFInfo
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- CN107719508A CN107719508A CN201710926648.5A CN201710926648A CN107719508A CN 107719508 A CN107719508 A CN 107719508A CN 201710926648 A CN201710926648 A CN 201710926648A CN 107719508 A CN107719508 A CN 107719508A
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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
Abstract
The invention discloses a kind of Hexapod Robot and foot control method and gait control method.Trunk should be included and in the symmetrically arranged walking mechanism in trunk both sides（Front foot, mesopodium and metapedes）.Walking mechanism includes：Hip joint linear oil cylinder, spiral oscillating oil cylinder, thigh, axle, knee joint linear oil cylinder, knee axis, knee joint wobble-plate, oil baffle, bearing, adpting flange, shank, sole and fastener etc..According to the co-ordination between different gait control hip joint linear oil cylinders, spiral oscillating oil cylinder, knee joint linear oil cylinder, walking mechanism is realized（Front foot, mesopodium and metapedes）Walking motion, so as to cross complexity landform.
Description
The application is patent：Application number 201610211130.9, applying date 2016.04.05 divisional application.
Technical field
The invention belongs to robot field, more particularly to a kind of Hexapod Robot and foot control method and gait control
Method.
Background technology
As scientific and technological progress, the rapid development of robot technology, its application field are also more and more wider.As mobile robot
Important member, Multifeet walking robot is applied primarily to following field, one is long range exploration, as volcano is explored,
Space probation, seabed are explored；The second is hazardous environment, such as nuclear power station or high radiation environment, mining industry exploration and exploitation, removal of mines row
Quick-fried, disaster area is rebuild, and is searched and rescued, region of war；In addition with building-site, engineering field is such as lumbered and transported.In development afterwards,
Multifeet walking robot will yield unusually brilliant results in more fields.
Mobile robot is commonly divided into wheeled mobile robot and Multifeet walking robot.Up to the present, although wheel
Formula mobile robot is occupied an leading position, but its common fault is to can be only applied to the ground of relatively flat, and this is resulted in part area
The traditional wheeled mobile robot in domain is difficult to arrive at.Even state-of-the-art offroad vehicle in the world, it can only also cross general rugged
Region, and energy consumption is huge, and also landform, environment can be damaged.
Multifeet walking robot mobility superior under physical relief it is clear that because their motion only need from
Scattered falls foot point as the strong point, can only be moved like that on continuous supporting surface rather than wheeled mobile robot.Even
Walked in the earth's surface of softness, Multifeet walking robot can also utilize it to fall the discrete characteristic of foot point and be moved with relatively low energy consumption.This
Outside, using its multivariant characteristic, what Multifeet walking robot can be easy realizes pivot turn；Pass through height of C.G.
Adjustment in real time, Multifeet walking robot can reduce the impact between irregular terrain profiles, it might even be possible to being close to for ground discontinuity,
So as to increase its load capacity while improve its kinetic stability.
Although multi-foot robot has many advantages, such as, it is difficult to be gone to describe obstacle with specific data under non-structural sublimity
Thing feature, its work still face many challenges, in order to improve the adaptation of the landform of multi-foot robot and obstacle climbing ability, it is necessary to slave
More flexible, reliable robot walking device is studied in terms of structure angle, foot control method and gait sequential.
The content of the invention
In order to improve, the landform of multi-foot robot adapts to and obstacle climbing ability, the present invention provide a kind of Hexapod Robot and foot
Control method and gait control method.
To achieve the above object, the present invention uses following technical method：Hexapod Robot includes trunk and in trunk both sides
Symmetrically arranged walking mechanism（Front foot, mesopodium and metapedes）.Walking mechanism includes：Hip joint linear oil cylinder, spiral oscillating oil cylinder,
Thigh, axle, knee joint linear oil cylinder, knee axis, knee joint wobble-plate, oil baffle, bearing, adpting flange, shank, sole and
Fastener etc..The concrete operating principle of walking mechanism is illustrated below：Spiral oscillating oil cylinder passes through gudgeon and trunk thereon
Be hinged, the other end is hinged by axle and hip joint linear oil cylinder, and the other end of hip joint linear oil cylinder is hinged by axle and trunk,
Each hinged place forms the revolute pair that can freely rotate, and hip joint linear oil cylinder is according to the motion needs of robot, in oil pressure
Under driving, spiral oscillating oil cylinder is driven to be swung around be hinged gudgeon thereon, so as to drive walking mechanism（Front foot, mesopodium and metapedes）
Swung in main frame left and right directions, realize and turn to；Thigh is fastened by the swing axial end inside fastener and spiral oscillating oil cylinder,
Spiral oscillating oil cylinder is in the presence of oil pressure, and its internal swinging axle rotates relative to shell, so as to drive thigh, shank etc. to exist
Fore-and-aft direction moves；Knee joint linear oil cylinder is installed on Medial Thigh Skin, the both sides of knee axis, and its one end is cut with scissors by axle and thigh
Connect, form revolute pair, the other end is hinged by axle and knee joint wobble-plate, forms revolute pair, knee joint wobble-plate symmetrical centre
There is a regular hexagon hole at place, and section is all regular hexagon at knee axis and knee joint wobble-plate cooperation, and both fit together, and make
It can not circumferentially produce relative motion, the knee axis both ends bearings being installed on thigh, knee axis and connection
Section at flange cooperation is regular hexagon, and the regular hexagon hole at knee axis and adpting flange center coordinates, and then is limited
Both are fastened in circumferential motion, shank by fastener and adpting flange, and knee joint linear oil cylinder is stretched in the presence of oil pressure
Contracting motion, driving knee joint wobble-plate are delivered torque to by knee axis, adpting flange small around its center rotating
Leg, realize motion of the shank in fore-and-aft direction；According to different gait control hip joint linear oil cylinders, spiral oscillating oil cylinder, knee
Co-ordination between the linear oil cylinder of joint, realizes walking mechanism（Front foot, mesopodium and metapedes）Walking motion, pass through each walking
Co-ordination between mechanism, so as to cross various complicated unstructured moving grids；Adpting flange, oil baffle, thigh and
The die cavity formed between knee axis is used for storing lubricating grease lubrication bearing；In order to reduce the contact pressure between robot and ground
By force, landform adaptability is improved, sole is mounted with shank lower end, is hinged between sole and shank by axle.
In order that walking mechanism flexible motion, design feature and its operation principle below according to walking mechanism illustrate each foot
Control method：Situation one, during Hexapod Robot is kept straight on, each joint action sequence consensus of front foot（Only exist gait sequential
Difference, i.e., left front foot and right front foot there is a situation where successively to act）, mesopodium and each joint action sequence consensus of metapedes（Only exist step
State difference of injection time）.During robot straight forward, before being illustrated by taking the sequence of movement in each joint of left front foot and control principle as an example
The course of work of foot：By spiral oscillating oil cylinder driving thigh rotate clockwise, complete lift thigh action, complete lift thigh it
Afterwards, shank is kicked under the driving of knee joint linear oil cylinder（Rotate clockwise）, then it is counterclockwise by spiral oscillating oil cylinder driving thigh
Sole is rotated up to contact to earth（Now complete to stride）, next, shank rotates counterclockwise under the driving of knee joint linear oil cylinder,
For shank during rotating counterclockwise, thigh makees counterclockwise motion under the driving of spiral oscillating oil cylinder, remains sole
Contact to earth（Now complete striding, walking for a step）；During robot straight forward, with the sequence of movement in each joint of left back foot
The course of work with illustrating mesopodium, metapedes exemplified by control principle：Knee joint linear oil cylinder driving shank rotates clockwise, to predetermined
Behind position, spiral oscillating oil cylinder driving thigh rotates clockwise, to after precalculated position, the knee joint linear oil cylinder driving shank inverse time
Pin rotates, and after sole contacts to earth, spiral oscillating oil cylinder driving thigh rotates counterclockwise, meanwhile, knee joint linear oil cylinder driving shank
Rotate counterclockwise, remain that sole contacts to earth.In the case that Hexapod Robot is to opposite direction straight line moving, front foot and mesopodium,
Each joint action order of metapedes is exchanged.Situation two, Hexapod Robot during steering, front foot that walking mechanism is included and
Metapedes operating principle is consistent, and the course of work turned to the left with left front foot below is made briefly to illustrate：The driving of spiral oscillating oil cylinder is big
Leg lifts leg（Rotate counterclockwise）, linear oil cylinder driving spiral oscillating oil cylinder in hip joint is around gudgeon rotation thereon so that left front foot
It is moved to the left, to after precalculated position, spiral oscillating oil cylinder driving thigh falls leg（Rotate clockwise）So that sole contacts to earth, then,
Hip joint linear oil cylinder driving spiral oscillating oil cylinder rotates around gudgeon thereon so that left front foot moves right, in mobile mistake
Cheng Zhong, remain that sole contacts to earth；Hexapod Robot is during steering, under the operating mode of the sole of mesopodium and ground contact,
Hip joint linear oil cylinder is in quick condition so that mesopodium is to follow the needs of main frame driven in the movement of left and right directions, in
For foot during the striding of left and right directions, hip joint linear oil cylinder drives spiral oscillating oil cylinder to be rotated around gudgeon thereon, regulation
Mesopodium makes it in vertical direction.
In order that coordination between walking mechanism, during Hexapod Robot is kept straight on, it is assumed that step pitch λ1(refer to branch
The distance that move relative to body in fore-and-aft direction of foot end when supportting phase), due to robot straight forward and backward straight trip gait original
Reason is consistent（All be when passing through support phase foot end relative to body in the distance that fore-and-aft direction moves between each foot of node control
Sequence of movement, with only stride direction of walking backward on the contrary, each sufficient sequence of movement is consistent, gait difference of injection time is 1/5 for walking forward
λ1）, below so that robot walks forward as an example, illustrate the relation between each sufficient gait：In original state, walking mechanism（Front foot,
Mesopodium, metapedes）Sole be located at 1/2 λ1Place, before preparing walking, robot original place adjusts the position of each sufficient sole and ground contact
Put, for the ease of understanding the process that strides, it is specified that stride motion is each completes enough from 0 λ1To 1 λ1Process.Action one：Original place adjusts
Each sufficient posture, now, left front foot are located at λ1Place, right mesopodium are located at 4/5 λ1Place, left back foot are located at 3/5 λ1Place, right front foot are located at 2/5
λ1, left foot be located at 1/5 λ1Place, right metapedes are located at 0 λ1Place；Action two：Under the coordination driving of each joint oil cylinder（Front foot, in
Foot, left back foot and ground contact driving body move forward）, left front foot is moved to 4/5 λ1Place, right mesopodium are moved to 3/5 λ1Place,
Left back foot is moved to 2/5 λ1Place, right front foot are moved to 1/5 λ1, left foot be moved to 0 λ1Place, right metapedes lift foot stride to λ1Place；
Action three：Under the coordination driving of each joint oil cylinder（Front foot, right mesopodium, metapedes and ground contact driving body move forward）,
Left front foot is moved to 3/5 λ1Place, right mesopodium are moved to 2/5 λ1Place, left back foot are moved to 1/5 λ1Place, right front foot are moved to 0 λ1, it is left
Mesopodium lift foot strides to λ1Place, right metapedes are moved to 4/5 λ1Place；Action four：Under the coordination driving of each joint oil cylinder（Left front foot,
Mesopodium, metapedes and ground contact driving body move forward）, left front foot is moved to 2/5 λ1Place, right mesopodium are moved to 1/5 λ1Place,
Left back foot is moved to 0 λ1Place, right front foot lift foot stride to λ1, left foot be moved to 4/5 λ1Place, right metapedes are moved to 3/5 λ1Place；
Action five：Under the coordination driving of each joint oil cylinder（Front foot, mesopodium, right metapedes and ground contact driving body move forward）,
Left front foot is moved to 1/5 λ1Place, right mesopodium are moved to 0 λ1Place, left back foot lift foot stride to λ1Place, right front foot are moved to 4/5 λ1、
Left foot is moved to 3/5 λ1Place, right metapedes are moved to 2/5 λ1Place；Action six：Under the coordination driving of each joint oil cylinder（Front foot,
Left foot, metapedes and ground contact driving body move forward）, left front foot is moved at 0 λ, right mesopodium lift foot strides to λ,
Left back foot is moved to 4/5 λ1Place, right front foot are moved to 3/5 λ1, left foot be moved to 2/5 λ1Place, right metapedes are moved to 1/5 λ1Place；
Action seven：Under the coordination driving of each joint oil cylinder（Front foot, left foot, metapedes and ground contact driving body move forward）,
Left front foot lift foot strides to λ1Place, right mesopodium are moved to 4/5 λ1Place, left back foot are moved to 3/5 λ1Place, right front foot are moved to 2/5
λ1, left foot be moved to 1/5 λ1Place, right metapedes are moved to 0 λ1Place（Now walking mechanism completes a complete foot circulation, body
Center of gravity moves forward λ1Distance）.
In order that coordination between walking mechanism, during Hexapod Robot pivot stud, it is assumed that step pitch λ2
(distance that foot end is moved relative to body in left and right directions when referring to support phase), turned to due to robot and turned to the right to the left
Gait principle is consistent（All it is that foot end relative to body is each foot of node control in the distance that left and right directions moves when passing through support phase
Between sequence of movement, to the left turn to and turn to only stride direction to the right on the contrary, each sufficient sequence of movement is consistent, gait difference of injection time is equal
For 1/5 λ2）, below so that robot turns to the left as an example, illustrate the relation between each sufficient gait：In original state, walking mechanism
（Front foot, mesopodium, metapedes）Sole be located at 1/2 λ2Place is, it is specified that walking mechanism in limit on the right-right-hand limit position is 0 λ2, limit on the left position is
λ2.Action one：Original place adjusts each sufficient posture, and now, left front foot is located at λ2Place, right mesopodium float（Hip joint linear oil cylinder does not have
Effect of contraction）, left back foot be located at 4/5 λ2Place, right front foot are located at 2/5 λ2, it is left foot float（Hip joint linear oil cylinder is without about
Shu Zuoyong）, right metapedes be located at 1/5 λ2Place；Action two：Under the coordination driving of each joint oil cylinder（Front foot, left foot, metapedes and
Ground contact driving body turns left）, left front foot is moved to 4/5 λ2Place, right mesopodium stride to 1/2 λ2Place, left back foot are moved to
λ2Place, right front foot are moved to 1/5 λ2, it is left foot float, right metapedes be moved to 2/5 λ2Place；Action three：In the association of each joint oil cylinder
Under transfer drive is dynamic（Front foot, mesopodium, right metapedes and ground contact driving body turn left）, left front foot is moved to 3/5 λ2In place, the right side
Foot floats, left back foot strides to 0 λ2Place, right front foot are moved to 0 λ2, it is left foot float, right metapedes be moved to 3/5 λ2Place；Action
Four：Under the coordination driving of each joint oil cylinder（Left front foot, mesopodium, metapedes and ground contact driving body turn left）, it is left front
Foot is moved to 2/5 λ2Place, right mesopodium float, left back foot strides to 1/5 λ2Place, right front foot stride to λ2, left foot float, it is right after
Foot is moved to 4/5 λ2Place；Action five：Under the coordination driving of each joint oil cylinder（Front foot, right mesopodium, metapedes and ground contact are driven
Motivation body turns left）, left front foot is moved to 1/5 λ2Place, right mesopodium float, left back foot strides to 2/5 λ2Place, the movement of right front foot
To 4/5 λ2, left foot strides to 1/2 λ2, right metapedes be moved to λ2Place；Action six：Under the coordination driving of each joint oil cylinder（Before
Foot, mesopodium, left back foot and ground contact driving body turn left）, left front foot is moved to 0 λ2Place, right mesopodium float, left back foot
Stride to 3/5 λ2Place, right front foot are moved to 3/5 λ2, left foot floats, right metapedes strides to 0 λ2Place；Action seven：In each joint oil
Under the coordination driving of cylinder（Right front foot, mesopodium, metapedes and ground contact driving body turn left）, left front foot strides to λ2Place,
Right mesopodium floats, left back foot strides to 4/5 λ2Place, right front foot are moved to 2/5 λ2, it is left foot float, right metapedes be moved to 1/5 λ2
Place；（Now walking mechanism completes a complete sufficient do action）.
In order to allow the robot to be applied to engineering field, it is necessary to the ability of stronger heavy burden, therefore each joint uses
Hydraulic Elements are driven, and in order to which less space exports larger moment of torsion, the swing in hip joint is driven using spiral oscillating oil cylinder, root
According to space characteristic, shank is driven using two knee joint linear oil cylinders, and two oil cylinders are arranged symmetrically, and is added and is driven the same of moment of torsion
When, avoid the phenomenon for causing damage because single hydraulic oil cylinder driving shaft strength is excessive；In order that walking is more steady, bearing capacity
Greatly, it is necessary to which polypody contacts to earth simultaneously, therefore the control method acted successively using each foot.
Brief description of the drawings
Fig. 1 is the overall structure diagram of Hexapod Robot.
Fig. 2 is the structural representation of trunk 101.
Fig. 3 is the structural representation of walking mechanism 102.
Fig. 4 is the schematic three dimensional views of spiral oscillating oil cylinder.
Fig. 5 is the partial 3 d schematic diagram of walking mechanism 102.
Fig. 6 is the front view of walking mechanism 102.
Fig. 7 is the sectional view of the F-F lines along Fig. 6.
Fig. 8 is the structural representation of walking mechanism 102.
Each sufficient sequence of movement of Fig. 9 and gait simplified schematic diagram.
Figure 10 straight trips act a gait timing diagram.
Figure 11 straight trips act two gait timing diagrams.
Figure 12 straight trips act three gait timing diagrams.
Figure 13 straight trips act four gait timing diagrams.
Figure 14 straight trips act five gait timing diagrams.
Figure 15 straight trips act six gait timing diagrams.
Figure 16 straight trips act seven gait timing diagrams.
Figure 17 left-hand rotations act a gait timing diagram.
Figure 18 left-hand rotations act two gait timing diagrams.
Figure 19 left-hand rotations act three gait timing diagrams.
Figure 20 left-hand rotations act four gait timing diagrams.
Figure 21 left-hand rotations act five gait timing diagrams.
Figure 22 left-hand rotations act six gait timing diagrams.
Figure 23 left-hand rotations act seven gait timing diagrams.
Embodiment
Description of reference numerals：
101. the metapedes A. hips joint B. knee joints of 104. mesopodium of trunk 102. walking mechanism, 103. front foot 105.
1. the fastener of hip joint 6. sole of linear oil cylinder 2. axle, 3. spiral oscillating oil cylinder, 4. thigh, 5. shank 7.
8. the knee axis of 12. knee joint wobble-plate of swinging axle 9. shell, 10. gudgeon, 11. knee joint linear oil cylinder 13.
14. the oil baffle of 15. adpting flange of bearing 16.
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
A kind of Hexapod Robot includes trunk 101 and in the symmetrically arranged walking mechanism 102 in the both sides of trunk 101（Front foot
103rd, mesopodium 104 and metapedes 105）.Walking mechanism 102 includes：Hip joint linear oil cylinder 1, axle 2, spiral oscillating oil cylinder 3, thigh
4th, shank 5, sole 6, fastener 7, knee joint linear oil cylinder 11, knee joint wobble-plate 12, knee axis 13, bearing 14, connection
Flange 15 and oil baffle 16 etc..Structure, the operation principle of walking mechanism 102 are consistent, its specific operation principle are made below detailed
It is thin to illustrate：Spiral oscillating oil cylinder 3 is be hinged by gudgeon 10 thereon and trunk 101, and the other end passes through axle 2 and hip joint straight line oil
Cylinder 1 is be hinged, and the other end of hip joint linear oil cylinder 1 is be hinged by axle 2 and trunk 101, and each hinged place, which is formed, freely to be rotated
Revolute pair, hip joint linear oil cylinder 1 under the driving of oil pressure, drives spiral oscillating oil cylinder 3 according to the motion needs of robot
Be hinged gudgeon 10 around thereon is swung, so as to drive walking mechanism 102（Front foot 103, mesopodium 104 and metapedes 105）It is left in main frame
Right direction oscillating motion, realize and turn to；Thigh 4 is fastened by the end face of swinging axle 8 inside fastener 7 and spiral oscillating oil cylinder 3,
Spiral oscillating oil cylinder 3 is in the presence of oil pressure, and its internal swinging axle 8 is swung relative to shell 9, so as to drive thigh 4, shank
5 grades are moved in fore-and-aft direction；Knee joint linear oil cylinder 11 is installed on inside thigh 4, and the both sides of knee axis 13, its one end passes through
Axle 2 and thigh 4 are be hinged, form revolute pair, the other end is be hinged by axle 2 and knee joint wobble-plate 12, forms revolute pair, knee joint
There is regular hexagon hole at the symmetrical centre of wobble-plate 12, section is all positive six side at knee axis 13 and the cooperation of knee joint wobble-plate 12
Shape, both fit together, and preventing it, the both ends of knee axis 13 are used and are installed on thigh 4 from circumferentially producing relative motion
Bearing 14 supports, and the section at knee axis 13 and the cooperation of adpting flange 15 is regular hexagon, knee axis 13 and adpting flange
Regular hexagon hole at 15 centers coordinates, and then limits both motions in circumference, and shank 5 passes through fastener 7 and adpting flange
15 fastenings, the stretching motion in the presence of oil pressure of knee joint linear oil cylinder 11, driving knee joint wobble-plate 12 around its center rotating,
And then shank 5 is delivered torque to by knee axis 13, adpting flange 15, realize motion of the shank 5 in fore-and-aft direction；According to
Co-ordination between different gait control hip joint linear oil cylinder 1, spiral oscillating oil cylinder 3, knee joint linear oil cylinder 11, it is real
Existing walking mechanism 102（Front foot 103, mesopodium 104 and metapedes 105）Walking motion, pass through the coordination between each walking mechanism 102
Work, so as to cross various complicated unstructured moving grids；Adpting flange 15, oil baffle 16, thigh 4 and knee axis 13
Between the die cavity that is formed be used for storing lubricating grease lubrication bearing 14；In order to reduce the footprint pressure between robot and ground, carry
High landform adaptability, sole 6 is mounted with the lower end of shank 5, it is be hinged by axle 2 between sole 6 and shank 5.
Each joint of Hexapod Robot has stronger heavy burden ability using hydraulic oil cylinder driving.Swing of the hip joint in fore-and-aft direction
Driven using spiral oscillating oil cylinder, be characterized in that larger moment of torsion, zero leakage can be exported, therefore some can be locked for a long time
Posture, and ability of bearing a heavy burden is strong；According to space characteristic, shank is driven using two knee joint linear oil cylinders, two oil cylinders it is symmetrical
Arrangement, while adding drive moment of torsion, avoid the phenomenon for causing damage because single hydraulic oil cylinder driving shaft strength is excessive.
Chapters and sections are to each joint action of Hexapod Robot walking mechanism order below（Monopodia walking principle）And between each foot
Gait sequential is described in detail, for the ease of illustrating, such as Fig. 9, it is specified that the left front foot mark of front foot 103 is, right front foot marks
For b, the left foot mark of mesopodium 104 is, right mesopodium be labeled as d, and the left back foot mark of metapedes 105 is, right metapedes is labeled as
f。
In order that walking mechanism 102（Front foot 103, mesopodium 104 and metapedes 105）Flexible motion, below according to walking mechanism
102 design feature and its operation principle illustrates control method：Situation one, during Hexapod Robot is kept straight on, front foot 103 is each
Joint action sequence consensus（Gait difference of injection time is only existed, i.e., left front sufficient a and right front foot b there is a situation where successively to act）, mesopodium
104 and each joint action sequence consensus of metapedes 105（Only exist gait difference of injection time）.During robot straight forward, with a left side
The course of work of front foot 103 is illustrated exemplified by the sequence of movement and control principle in each joints of front foot a：Driven by spiral oscillating oil cylinder 3
Thigh 4 rotates clockwise, and completes the lift leg action of thigh 4（The stroke of spiral oscillating oil cylinder 3 terminates）, complete the action of lift thigh 4
Afterwards, shank 5 is kicked under the driving of knee joint linear oil cylinder 11 to vertical state（Rotate clockwise）, then by spiral oscillating oil cylinder
3 driving thighs 4 are rotated counterclockwise until sole 6 contacts to earth（Now complete to stride）, next, shank 5 is in knee joint linear oil cylinder
The angle turned to counterclockwise between level ground under 11 driving is 45 °, and shank 5 is during rotating counterclockwise, greatly
Leg 4 makees counterclockwise motion under the driving of spiral oscillating oil cylinder 3, remains that sole 6 contacts to earth（Now complete the striding an of step,
Walking）；During robot straight forward, mesopodium is illustrated by taking the sequence of movement in left back sufficient each joints of e and control principle as an example
104th, the course of work of metapedes 105：Knee joint linear oil cylinder 11 drives shank 5 to be clockwise to the folder between level ground
Angle is 45 °, and to after the position, the driving thigh 4 of spiral oscillating oil cylinder 3, which is clockwise to the stroke of spiral oscillating oil cylinder 3, to be terminated, and is arrived
Behind the position, the driving shank 5 of knee joint linear oil cylinder 11, which is rotated counterclockwise to sole 6, to contact to earth, and then, spiral oscillating oil cylinder 3 drives
Dynamic thigh 4 rotates counterclockwise, meanwhile, knee joint linear oil cylinder 11 drives shank 5 to rotate counterclockwise to vertical state, remains
Sole 6 contacts to earth.In the case that Hexapod Robot is to opposite direction straight line moving, front foot 103 and mesopodium 104,105 each joint of metapedes
Sequence of movement is exchanged（That is the difference of Hexapod Robot straight forward and foot control method of keeping straight on backward is the work of front foot 103
Step and mesopodium 104, the job step of metapedes 105 are exchanged）.Situation two, Hexapod Robot is during steering, walking mechanism
102 front foots 103 included are consistent with the operating principle of metapedes 105, explained below with the left front sufficient a courses of work turned to the left
State：Spiral oscillating oil cylinder 3 drives lift leg to the stroke of spiral oscillating oil cylinder 3 of thigh 4 to terminate（Rotate counterclockwise）, hip joint straight line oil
Cylinder 1 drives spiral oscillating oil cylinder 3 to be rotated around gudgeon 10 thereon so that left front sufficient a is moved to the left, until hip joint linear oil cylinder
1 stroke terminates, and spiral oscillating oil cylinder 3 drives thigh 4 to fall leg（Rotate clockwise）So that sole 6 contacts to earth, and then, hip joint is straight
Line oil cylinder 1 drives spiral oscillating oil cylinder 3 to be rotated around gudgeon 10 thereon so that left front sufficient a moves right, to hip joint straight line oil
Cylinder（1）Stroke terminates, and during movement, remains that sole 6 contacts to earth；Hexapod Robot is during steering, mesopodium
Under 104 sole 6 and the operating mode of ground contact, hip joint linear oil cylinder 1 is in quick condition so that mesopodium 104 is in right and left
To movement be to follow the needs of main frame driven, when mesopodium 104 is during the striding of left and right directions, hip joint linear oil cylinder 1
Driving spiral oscillating oil cylinder 3 rotates around gudgeon 10 thereon, and regulation mesopodium 104 makes it in vertical direction.
In order that coordination between walking mechanism 102, it is necessary to the gait sequential between each foot is planned, in six sufficient machines
During people keeps straight on, it is assumed that step pitch λ1(distance that foot end is moved relative to body in fore-and-aft direction when referring to support phase), by
It is consistent with gait principle of keeping straight on backward in robot straight forward（All be when passing through support phase foot end relative to body in front and back
To sequence of movement of the mobile distance between each foot of node control, walking and only stride direction of walking backward are on the contrary, each forward
Sufficient sequence of movement is consistent, and gait difference of injection time is 1/5 λ1）, below so that robot walks forward as an example, between each sufficient gait of elaboration
Relation：In original state, walking mechanism 102（Front foot 103, mesopodium 104, metapedes 105）Sole 6 be located at 1/2 λ1Place, prepare
Before walking, robot original place adjusts the position of each sufficient sole and ground contact, and process is striden, it is specified that striding dynamic for the ease of understanding
Work is that each foot is completed from 0 λ1To 1 λ1Process.Action one（Figure, 10）：Original place adjusts each sufficient posture, and left front sufficient a is adjusted to λ1Place,
Right mesopodium d is adjusted to 4/5 λ1Place, left back sufficient e are adjusted to 3/5 λ1Place, right front foot b are adjusted to 2/5 λ1, left sufficient c adjusted to 1/5
λ1Place, right metapedes f are adjusted to 0 λ1Place；Action two（Figure 11）：Under the coordination driving of each joint oil cylinder（Front foot 103, mesopodium 104,
Left back sufficient e and ground contact driving body move forward）, left front sufficient a is moved to 4/5 λ1Place, right mesopodium d are moved to 3/5 λ1Place,
Left back sufficient e is moved to 2/5 λ1Place, right front foot b are moved to 1/5 λ1, left sufficient c be moved to 0 λ1Place, right metapedes f lift foots stride to λ1
Place；Action three（Figure 12）：Under the coordination driving of each joint oil cylinder（Front foot 103, right mesopodium d, metapedes 105 and ground contact are driven
Motivation body moves forward）, left front sufficient a is moved to 3/5 λ1Place, right mesopodium d are moved to 2/5 λ1Place, left back sufficient e are moved to 1/5 λ1
Place, right front foot b are moved to 0 λ1, left sufficient c lift foot strides to λ1Place, right metapedes f are moved to 4/5 λ1Place；Action four（Figure 13）：
Under the coordination driving of each joint oil cylinder（Left front sufficient a, mesopodium 104, metapedes 105 and ground contact driving body move forward）, it is left
Front foot a is moved to 2/5 λ1Place, right mesopodium d are moved to 1/5 λ1Place, left back sufficient e are moved to 0 λ1Place, right front foot b lift foot stride to
λ1, left sufficient c be moved to 4/5 λ1Place, right metapedes f are moved to 3/5 λ1Place；Action five（Figure 14）：Driven in the coordination of each joint oil cylinder
Under dynamic（Front foot 103, mesopodium 104, right metapedes f and ground contact driving body move forward）, left front sufficient a is moved to 1/5 λ1Place,
Right mesopodium d is moved to 0 λ1Place, left back sufficient e lifts foot stride to λ1Place, right front foot b are moved to 4/5 λ1, left sufficient c be moved to 3/5 λ1
Place, right metapedes f are moved to 2/5 λ1Place；Action six（Figure 15）：Under the coordination driving of each joint oil cylinder（Front foot 103, left foot
C, metapedes 105 and ground contact driving body move forward）, left front sufficient a is moved at 0 λ, right mesopodium d lift foots stride to λ,
Left back sufficient e is moved to 4/5 λ1Place, right front foot b are moved to 3/5 λ1, left sufficient c be moved to 2/5 λ1Place, right metapedes f are moved to 1/5
λ1Place；Action seven（Figure 16）：Under the coordination driving of each joint oil cylinder（Right front foot b, mesopodium 104, metapedes 105 and ground contact
Body is driven to move forward）, left front sufficient a lifts are sufficient to stride to λ1Place, right mesopodium d are moved to 4/5 λ1Place, left back sufficient e are moved to 3/5
λ1Place, right front foot b are moved to 2/5 λ1, left sufficient c be moved to 1/5 λ1Place, right metapedes f are moved to 0 λ1Place（Now walking mechanism is complete
Into a complete foot circulation, body center of gravity moves forward λ1Distance）.
In order that coordination between walking mechanism, during Hexapod Robot pivot stud, it is assumed that step pitch λ2
(distance that foot end is moved relative to body in left and right directions when referring to support phase), turned to due to robot and turned to the right to the left
Gait principle is consistent（All it is that foot end relative to body is each foot of node control in the distance that left and right directions moves when passing through support phase
Between sequence of movement, to the left turn to and turn to only stride direction to the right on the contrary, each sufficient sequence of movement is consistent, gait difference of injection time is equal
For 1/5 λ2）, below so that robot turns to the left as an example, illustrate the relation between each sufficient gait：In original state, walking mechanism
102（Front foot 103, mesopodium 104, metapedes 105）Sole 6 be located at 1/2 λ2Place, it is specified that walking mechanism 102 limit on the right-right-hand limit position be 0
λ2, limit on the left position is λ2（Fig. 9）.Action one（Figure 17）：Original place adjusts each sufficient posture, and now, left front sufficient a is located at λ2In place, the right side
Sufficient d floats（Hip joint linear oil cylinder 1 does not have effect of contraction）, left back sufficient e be located at 4/5 λ2Place, right front foot b are located at 2/5 λ2, it is left
Mesopodium c floats（Hip joint linear oil cylinder 1 does not have effect of contraction）, right metapedes f be located at 1/5 λ2Place；Act two (Figure 18)：
Under the coordination driving of each joint oil cylinder（Front foot 103, left sufficient c, metapedes 105 and ground contact driving body turn left）, it is left
Front foot a is moved to 4/5 λ2Place, right mesopodium d stride to 1/2 λ2Place, left back sufficient e are moved to λ2Place, right front foot b are moved to 1/5 λ2、
Left sufficient c floats, right metapedes f is moved to 2/5 λ2Place；Act three (Figure 19)：Under the coordination driving of each joint oil cylinder（Front foot
103rd, mesopodium 104, right metapedes f and ground contact driving body turn left）, left front sufficient a is moved to 3/5 λ2Place, right mesopodium d are floated
Dynamic, left back sufficient e strides to 0 λ2Place, right front foot b are moved to 0 λ2, left sufficient c floats, right metapedes f is moved to 3/5 λ2Place；Action four
（Figure 20）：Under the coordination driving of each joint oil cylinder（Left front sufficient a, mesopodium 104, metapedes 105 and ground contact driving body are to the left
Rotate）, left front sufficient a is moved to 2/5 λ2Place, right mesopodium d float, left back sufficient e strides to 1/5 λ2Place, right front foot b stride to λ2, it is left
Mesopodium c floats, right metapedes f is moved to 4/5 λ2Place；Action five（Figure 21）：Under the coordination driving of each joint oil cylinder（Front foot 103,
Right mesopodium d, metapedes 105 and ground contact driving body turn left）, left front sufficient a is moved to 1/5 λ2Place, right mesopodium d float,
Left back sufficient e strides to 2/5 λ2Place, right front foot b are moved to 4/5 λ2, left sufficient c strides to 1/2 λ2, right metapedes f be moved to λ2Place；
Action six（Figure 22）：Under the coordination driving of each joint oil cylinder（Front foot 103, mesopodium 104, left back sufficient e and ground contact driving machine
Body turns left）, left front sufficient a is moved to 0 λ2Place, right mesopodium d float, left back sufficient e strides to 3/5 λ2Place, right front foot b are moved to
3/5λ2, left sufficient c floats, right metapedes f strides to 0 λ2Place；Action seven（Figure 23）：Under the coordination driving of each joint oil cylinder（It is right
Front foot b, mesopodium 104, metapedes 105 and ground contact driving body turn left）, left front sufficient a strides to λ2Place, right mesopodium d are floated
Dynamic, left back sufficient e strides to 4/5 λ2Place, right front foot b are moved to 2/5 λ2, left sufficient c floats, right metapedes f is moved to 1/5 λ2Place；
（Now walking mechanism 102 completes a complete sufficient do action）.
Claims (1)
- A kind of 1. Hexapod Robot gait control method, it is characterised in that：Hexapod Robot straight forward is consistent with gait principle of keeping straight on backward, is all that foot end exists relative to body when passing through support phase Sequence of movement of the distance of fore-and-aft direction movement between each foot of node control, walks forward and only stride direction phase of walking backward Instead, each sufficient sequence of movement is consistent, and gait difference of injection time is 1/5 λ 1；Hexapod Robot straight forward gait sequential is as follows：1st, original state, the sole (6) of walking mechanism (102) are located at 1/2 λ 1；2nd, robot original place adjusts the position of each sufficient sole and ground contact, and left front foot (a) is adjusted to λ 1, right mesopodium (d) is adjusted It is whole at 4/5 λ 1, left back foot (e) is adjusted to 3/5 λ 1, right front foot (b) adjusts to 2/5 λ 1, left foot (c) and adjusted to 1/5 λ 1 Place, right metapedes (f) are adjusted to 0 λ 1；3rd, each sufficient walking order is left front foot (a), right mesopodium (d), left back foot (e), right front foot (b), left foot (c), right metapedes (f), left front foot (a), gait difference of injection time are 1/5 λ 1；4th, a walking is walked to terminate, and steps forth, stride is λ 1；Hexapod Robot turn to the left with to the right turn to gait principle it is consistent, be all that foot end exists relative to body when passing through support phase Sequence of movement of the distance of left and right directions movement between each foot of node control, turns to the left and turns to only stride direction phase to the right Instead, each sufficient sequence of movement is consistent, and gait difference of injection time is 1/5 λ 2；It is as follows that Hexapod Robot turns to gait sequential to the left：1st, original state, the sole (6) of walking mechanism (102) are located at 1/2 λ 2；2nd, original place adjusts each sufficient posture, left front foot (a) is located at λ 2, right mesopodium (d) is floated, left back foot (e) is located at 4/5 λ 2, Right front foot (b) is located at 2/5 λ 2, left foot (c) is floated, right metapedes (f) is located at 1/5 λ 2；3rd, each sufficient walking order is left front foot (a), right mesopodium (d), left back foot (e), right front foot (b), left foot (c), right metapedes (f), left front foot (a), gait difference of injection time are 1/5 λ 2；4th, a walking is walked to terminate, and front foot (103) strides to the left, metapedes (105) strides to the right, and stride is λ 2, and mesopodium (104) strides To 1/2 λ2Place.
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Cited By (5)
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| CN108891501A (en) * | 2018-07-31 | 2018-11-27 | 江西理工大学 | A kind of hexapod robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN111949039A (en) * | 2020-09-09 | 2020-11-17 | 西北工业大学 | Semi-circular bionic blade leg-based six-legged robot course control method |
| CN112373596A (en) * | 2020-11-12 | 2021-02-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machine |
| CN112373596B (en) * | 2020-11-12 | 2024-04-19 | 腾讯科技（深圳）有限公司 | Bionic mechanical foot device and bionic machinery |
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| CN105857432B (en) | 2018-01-05 |
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