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Appl. Sci. 2017, 7(3), 296; doi:10.3390/app7030296

Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot

1
College of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China
2
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China
*
Authors to whom correspondence should be addressed.
Academic Editor: Antonio Fernández-Caballero
Received: 12 February 2017 / Revised: 11 March 2017 / Accepted: 16 March 2017 / Published: 18 March 2017
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Abstract

Gait planning is an important basis for the walking of a legged robot. To improve the walking stability of multi-legged robots and to reduce the impact force between the foot and the ground, gait planning strategies are presented for an electrically driven large-load-ratio six-legged robot. First, the configuration and walking gait of the electrically driven large-load-ratio six-legged robot are designed. The higher-stable swing sequences of legs and typical walking modes are respectively obtained. Based on the Denavit–Hartenberg (D–H) method, the analyses of the forward and inverse kinematics are implemented. The mathematical models of the articulated rotation angles are respectively established. In view of the buffer device installed at the end of shin to decrease the impact force between the foot and the ground, an initial lift height of the leg is brought into gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. Finally, a prototype of the electrically driven large-load-ratio six-legged robot is developed. The experiments of the prototype are carried out regarding the aspects of the walking speed and surmounting obstacle. Then, the reasonableness of gait planning is verified based on the experimental results. The proposed strategies of gait planning lay the foundation for effectively reducing the foot–ground impact force and can provide a reference for other large-load-ratio multi-legged robots. View Full-Text
Keywords: large-load-ratio six-legged robot; gait planning; initial lift height; support phase; transfer phase large-load-ratio six-legged robot; gait planning; initial lift height; support phase; transfer phase
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Zhuang, H.-C.; Gao, H.-B.; Deng, Z.-Q. Gait Planning Research for an Electrically Driven Large-Load-Ratio Six-Legged Robot. Appl. Sci. 2017, 7, 296.

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