Stability analysis of hexapod robot with triangular gait in low gravity environment

Jianan Chen

doi:10.1117/12.2673168

14 April 2023 Stability analysis of hexapod robot with triangular gait in low gravity environment

Jianan Chen

Proceedings Volume 12612, International Conference on Artificial Intelligence and Industrial Design (AIID 2022); 126120X (2023) https://doi.org/10.1117/12.2673168
Event: International Conference on Artificial Intelligence and Industrial Design (AIID 2022), 2022, Zhuhai, China

Abstract

In order to study the movement of a hexapod robot in a low gravity environment, the feasibility of using the hexapod structure as the movement mode of the robot in the earth's outer environment is verified. In this paper, the structure and motion characteristics of the robot are constructed according to the hexapod beetle. The stability of the hexapod robot's typical triangular gait is analyzed using the barycenter projection method and introducing the concept of minimum stability margin. The simulation model of the hexapod robot is established using the mechanical system dynamics simulation software, and the motion simulation of the robot is analyzed. Through the analysis of the kinematics and dynamics parameters, the stability of the triangular gait, the rationality of the hexapod structure, and the feasibility of the robot’s movement in a low gravity environment are verified. It lays a foundation for future research on robot control and other gait stability and provides a theoretical basis for developing hexapod and other types of multi-legged robots.

Citation Download Citation

Jianan Chen "Stability analysis of hexapod robot with triangular gait in low gravity environment", Proc. SPIE 12612, International Conference on Artificial Intelligence and Industrial Design (AIID 2022), 126120X (14 April 2023); https://doi.org/10.1117/12.2673168

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KEYWORDS

Gait analysis

Motion models

Planets

3D modeling

Analytical research

Mars

Biomimetics

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