Research on gait planning of Hexapod wheel legged robot based on STM32 single chip microcomputer

Abstract

In this paper, the rectangular wheel legged hexapod robot is used as the experimental robot, the STM32 single-chip microcomputer is used as the main control core, the steering control board is used as the auxiliary board, the upper computer programming is used to write the action group of the hexapod robot, the command is sent to the single-chip microcomputer through the PS2 handle, the single-chip microcomputer controls the steering board to achieve the corresponding action group, and the Arduino control board is used to change the environment through the sensor in the later stage The control of action group can be realized by the detection. In addition, in order to solve the gait planning problem of hexapod robot and realize the optimal learning of robot's free gait on specific terrain, based on the discretization of the robot's single foot distance, integrating the time rhythm principle of CPG model and the space rule constraint mechanism of reflection model, a discrete gait model of Hexapod robot is constructed. Ant colony algorithm is used to study the gait path planning of the robot. MATLAB and C language technology are used to realize the simulation of the gait planning of the hexapod robot.