TY - GEN
T1 - Gait planning and control of hexapod robot based on velocity vector
AU - Xue, Junfeng
AU - Li, Jiehao
AU - Chen, Zhihua
AU - Wang, Shoukun
AU - Wang, Junzheng
AU - Ma, Ruijun
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/3
Y1 - 2021/7/3
N2 - The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.
AB - The gait planning and control are the main challenge for hexapod robots in unknown terrains, especially when the robot needs to turn. A gait planning and control method based on velocity vector is proposed in this paper for gait turning. Firstly, the overall kinematics model and typical gait sequence of the hexapod robot are introduced. Secondly, the relationship between velocity vector and rotation center is established, and the algorithm flow of diagonal gait and turn gait based on velocity vector is designed. Finally, the Co-simulation based on MATLAB and V-REP is carried out. The simulation results show that the robot body can keep turning with different radius in the process of diagonal gait, which verifies the effectiveness of the algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85116190640&partnerID=8YFLogxK
U2 - 10.1109/ICARM52023.2021.9536055
DO - 10.1109/ICARM52023.2021.9536055
M3 - Conference contribution
AN - SCOPUS:85116190640
T3 - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
SP - 616
EP - 620
BT - 2021 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2021
Y2 - 3 July 2021 through 5 July 2021
ER -