Optimized Body Position Adjustment of a Six-Legged Robot Walking on Inclined Plane

摘要

In this paper, an optimized body position planner is proposed for a six-legged robot walking on inclined plane. First of all, the parametric features of an inclined plane is introduced with the relationship of the plane and the robot motion investigated. After that, an optimization-based approach is employed to generate appropriate body position adjustment corresponding to various plane parameters. Both kinematic reachability of robot legs and static stability of robot body are taken into consideration during the optimization process. Under these two constraints, the optimization objective is formulated to realize the maximum mobility indicated by the maximum step parameters. Computations are carried out demonstrating the relationship among different degrees of plane inclination, robot body displacement and robot maximum mobility.