The Design and the Gait Planning Analysis of Hexapod Wall-Climbing Robot

摘要

In this paper, the authors manage to design and control a kind of hexapod wall-climbing robot, which is a radial symmetric, with 18 actuators - 3 steering motors allocated at each leg - supposed to be effectively mobile. Suckers, solenoid valves and vacuum pump are equipped to enable the function of wall climbing. In order to reach the target, mathematic model is optimized in advance. And it is designed to be light but meanwhile has a certain capacity of load-carrying. By alternating the gait between the tripod and the non-tripod one, or adjusting the open-loop control strategy, the load-carrying capacity can be extended a lot at the price of reducing the mobility.