Free gait generation method for omnidirectional locomotion on abrupt terrain with multi-legged biomimetic robot

ChenPu, ZhaoJie, ZhangXiJie

State Key Lab of Robotics and System,Harbin Institute of Technology,Harbin 150001,China



Abstract:

In order to achieve omnidirectional locomotion on rough terrain with multi-legged biomimetic robot,a free gait generation approach is proposed based on local rules.The phase coordinates of each operation leg was established according to the motion task and a universal depiction of leg-end locomotion was implemented;the mathematical relation of gait pattern and walking velocity of multi-legged robot was put forward;combined polynomial curve was adopted to generate the leg-end trajectory,which was capable of accomplishing walking missions and accommodating to landform conditions;a distributed network of local rules for gait control was constructed based on a set of local rules operating between adjacent legs.In the simulation experiments,adaptive regulation of inter-leg phase sequence,omnidirectional locomotion and ground accommodation were realized.Moreover,statically stable free gait was obtained simultaneously,which provided multi-legged robot with the capability of walking on irregular terrain reliably and expeditiously.

Key words:  multi-legged robot  rough terrain walking  free gait  local rules  inter-leg phase sequence

DOI£º10.11916/j.issn.1005-9113.2011.02.021

Clc Number:TP242

Fund: