Research on gait design of Hexapod Bionic Robot under damaged condition

Abstract

Hexapod robot plays an important role in rescue and relief, battlefield rescue and other occasions. However, due to the influence of environment and other factors, the hexapod robot may be damaged to different degrees, which makes it unable to work normally. This paper studies the gait of hexapod robot under the condition of damage, analyzes the different damaged conditions of hexapod robot, establishes the hexapod robot model under different damaged conditions, studies the gait and stability of hexapod robot under the condition of single-leg damaged, and plans the stable gait suitable for the robot to continue to work. According to the simulation analysis, the four-legged and three-legged gait of the hexapod robot under the condition of single-foot damage which makes itself work normally is obtained. The research method in this paper can be applied to other multi-legged robots under different damage conditions, which has certain significance to improve the working life of these kinds of robots.