Gait Switching and Control in Hexapod Robots
Author Information
Author(s): Yue Min, Jiang Xiaoyun, Zhang Liqiang, Zhang Yujin
Primary Institution: Shanghai University of Engineering Science
Hypothesis
Can a novel real-time replanning gait switching control strategy improve stability and trajectory control in hexapod robots?
Conclusion
The proposed control strategy significantly enhances the dynamic stability and maneuverability of hexapod robots in complex environments.
Supporting Evidence
- The hexapod robot can switch gaits seamlessly in real time.
- The approach significantly improves the robot's dynamic stability.
- Extensive experiments confirmed the effectiveness of the proposed methods.
Takeaway
This study shows how a hexapod robot can change its walking style quickly and stay stable while moving, even on tricky ground.
Methodology
The study developed a kinematic model and implemented a fuzzy inference-based gait switching strategy along with a single-neuron adaptive PID for attitude control.
Limitations
The study primarily focuses on simulation experiments, and real-world applications may present additional challenges.
Digital Object Identifier (DOI)
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