Six-legged Walking Robot's Gait Planning and Kinematics Analysis under the Environment of Concave Ground

摘要

Legged robot has advantages with high degree of freedom, flexibility and strong adaptability to the ground. So this paper presents a posture in concave ground environment of a leg organization of a six-legged robot and proposes a gait planning of six-legged robot, which ensure it to move smoothly and efficiently. Using homogeneous and rotational homogeneous transformation to analyze the kinematics model of standing leg and swinging leg, and then calculate the kinematics equation. It lays the foundation for the further study of the motion control of robot.