一种星球探测六足轮腿机器人的设计与运动规划

doi:10.7527/S1000-6893.2020.24244

Abstract

Abstract: A wheel-legged hexapod robot with high symmetries is designed for planetary exploration. With a structure both centrosymmetric in the body horizontal plane and symmetric about its body horizontal plane, this robot can realize two modes of locomotion: wheeled mode and legged mode. In the knee joint, a double parallelogram transmission mechanism is used to avoid the singularity of the traditional parallelogram mechanism, enlarging the motion range of the knee joint. Based on the motion planning in the exponential coordinate on SE(3), an adaptive gait is designed for this wheel-legged hexapod robot. Relying on the force sensor on the feet and inertial measurement unit on the body, this robot using this adaptive gait without the visual sensor and the global map can achieve a stable and continuous walk in an unknown environment. Based on the symmetry of the hexapod robot about the body horizontal plane, the motion planning of the recovery from overturning is designed to meet the need for planetary exploration. Simulations are conducted in the Adams and MATLAB environment. The switch of locomotion modes, the adaptive gait, and the stumble recovery of the wheel-legged hexapod robot are achieved in the simulation.

Key words: hexapod robots, wheel-legged, motion planning, planetary exploration, adaptive gait

CLC Number:

QIN Ripeng, XU Kun, CHEN Jiawei, HAN Liangliang, DING Xilun. Design and motion planning of wheel-legged hexapod robot for planetary exploration[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 524244-524244.

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Design and motion planning of wheel-legged hexapod robot for planetary exploration

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