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Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment

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Mechanism and Machine Science (ASIAN MMS 2016, CCMMS 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

Abstract

Hexapod robots have stronger adaptability to dynamic unknown environment than wheeled or trucked ones due to their flexibility. In this paper, a control strategy based on rolling gait and trajectory planning that enables a hexapod robot to walk in dynamic environment is proposed. The core content of the control strategy is to constantly change the gait and trajectory according to the dynamic environment and predicted stability margin of robot. Kalman filter is employed to compute predicted zero moment point (ZMP) monitoring the stability of robot in order to keep balance with adjusting gait and trajectory. A hierarchical control architecture consisting of high-level gait planner, low-level trajectory planner, joint servo controller and compliance controller is presented. The control strategy is applied to a hexapod robot engaging to disaster rescue. Experiment results show the efficiency of our control strategy over challenging terrain.

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Acknowledgments

This study was supported by a grant from National Basic Research Program (973) of China (Grant No. 2013CB035504).

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Authors and Affiliations

  1. School of Mechanical and Electrical Engineering, Central South Universiy, Changsha, 410083, Hunan, China

    Guiyang Xin, Hua Deng, Guoliang Zhong & Hengsheng Wang

  2. State Key Laboratory of High-Performance Complex Manufacturing, Central South University, Changsha, 410083, Hunan, China

    Guiyang Xin, Hua Deng, Guoliang Zhong & Hengsheng Wang

Authors
  1. Guiyang Xin
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  2. Hua Deng
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  3. Guoliang Zhong
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  4. Hengsheng Wang
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Corresponding author

Correspondence to Guiyang Xin .

Editor information

Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

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Xin, G., Deng, H., Zhong, G., Wang, H. (2017). Gait and Trajectory Rolling Planning for Hexapod Robot in Complex Environment. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_3

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_3

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

  • eBook Packages: EngineeringEngineering (R0)

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