Gait Planning and Foot-Terrain Mechanical Model Analysis of Hexapod Robot

In this paper, we first study the single stiffness-damping model, analyze the corresponding relationship between the single stiffness-damping model and the stress integral model of foot-terrain interaction, then derive the stiffness-damping composite model, and finally establish the mechanical model of foot-terrain interaction based on the stiffness-damping composite model. Taking the hexagonal hexapod robot model as the main research object, the kinematics planning, coordinate system and state of walking in soft soil or desert are analyzed. The gait planning and the change of robot foot-terrain force are analyzed and simulated separately that the robot walking on flat terrain and crossing obstacle, crossing ditch and climbing slope in the unstructured terrain. The simulation results and curve analysis prove that the correctness of tripod gait planning strategy and foot-terrain force change in the flat terrain, and the correctness of obstacle crossing, ditch crossing and slope climbing in the unstructured terrain.