To improve the walking stability of the hexapod robot on slope, based on the tripod gait the walking stability of hexapod robot on slope terrain is analyzed, and the relationship between static stability margin and pitch angle of body is acquired. The relationship between the output characters of Hopf oscillator and the convergence coefficient, variable feedback are studied, joint signals generater of the single leg and the coupling model between legs are designed based on feedback hopf model. Choosing the group of convergence coefficient, and bringing in the pitch angle to construct feedback value, in order to improve the stability of hexapod robot's walking on slope terrain just by changing the knee angle. Union simulation platform of Matlab-ADAMS and physical prototype for testing are constructed. The simulation result is that the stability margin of walking up 12° slope terrain is increased by 6.3 percent and the SM of walking down 12° slope terrain is increased by 7.2 percent compared with the Hopf oscillator. The experiment result is that at the same condition of walking 1 meter, the offset to the left is 0.3 meter under Hopf model, the offset to the left is 0.05 meter under feedback Hopf model. The stability margin improves observably.
YANG Xuefeng
,
GUO Zhenwu
,
WANG Binrui
,
WANG Ling
,
JIN Yinglian
. Gait Generator of Hexapod Robot on Slope Terrain Based on Hopf Oscillator with Feedback[J]. Journal of Mechanical Engineering, 2018
, 54(21)
: 41
-48
.
DOI: 10.3901/JME.2018.21.041
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