Experimental Analysis of the Performance of a Hexapod Robot based on the Dynamic Parameters

摘要

In this paper, the experimental performance of a small hexapod robot driven by C-shaped legs has primarily been analyzed, based on its vertical and horizontal acceleration, for a chosen set of triangle gait phase angles. Firstly, a kinematic model was established for the hexapod robot designed by the Institute of Robotics and Intelligent Systems at Xi'an Jiaotong University. The triangle gait experiments were conducted on this robot, including straight line motion, turning motion, motion on a rugged terrain, climbing over an obstacle, and walking down a step. The acceleration during the course was plotted for each of the mentioned scenarios and the patterns were analyzed by relating to different experimental aspects. The robot achieved a maximum angular velocity of about 0.65 rad/s, crossed an obstacle of 4.5cm height and descended down a 13.5 cm high step. The analysis provides the ground towards the optimization of the triangular gait of the hexapod robot driven by C-shaped legs for robust movement.