基于速度矢量的6足机器人三角间歇步态规划与分析

In order to improve the stability and continuity of walking of the large-inertia hexapod robot, a triangular intermittent gait was proposed based on the velocity vector. Based on the triangular intermittent gait, mapping the translation uniformly, and taking the rotation speed vectors as the turning around center of rotation, the gait was designed to make the hexapod robot walk all-round stably and its speed switch smoothly. Firstly, the coordinate of the rotation center was calculated accoeding to the turning centre theory, and the maximun rotation speed was calculated under the constraints of the workspace of foot. Then, the trajectory planning of the swing phase was arranged with the end-to-end zero-impact cycloid, and an incremental trajectory planning method was used for the support phase to facilitate the calculation of continuous motion instructions and to achieve the variable-speed vector motion. Finally, the comparison experiments were performed on the virtual prototype and the physical model respectively. The results show that the triangular intermittent gait based on the velocity vector possesses the smallest amplitude and the smallest variance, and the proposed method can guarantee the continuous and stable all-around movement of the large-inertia hexapod robot.