为精细模仿生物步态，充分发挥六足机器人运动潜能，在离散化机器人单足工作空间的基础上，融合中枢模式发生器(Central pattern generators, CPG)模型与反射模型的核心思想，建立离散化步态模型，基于稳定性分析，构建机器人稳定的位置状态空间，将步态规划问题转化为稳定的位置状态空间中位置状态间的排序问题，在此基础上，提出一种新的自由步态生成算法，并结合试验样机开展步态试验。试验结果表明，自由步态生成算法可根据给定的速度要求生成符合生物运动特点的稳定步态以实现机器人的灵活运动。
In order to imitate biological gait subtly and develop the movement potential of the hexapod robot comprehensively, a discrete model of stepping is built based on the discretization of foot workspaces and the fusion of central pattern generators (CPG) model and reflect model. Based on the stability analysis, the stable state space is constructed and the issue of gait planning is transformed into the reordering problem of states in the stable state space. Then a new free gait generation algorithm is proposed and different gait experiments tailored for a hexapod robot are conducted to verify the effectiveness of the algorithm. The results show the free gait generation algorithm can generate stable gait which accords with motion characteristics of creatures according to the given speed to achieve movements flexibly.
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