GAIT PLANNING METHOD FOR GIANT SIX-LIMB LEG CRAWLER FOOT POLAR SCIENTIFIC EXPEDITION VEHICLE SPANNING ICE CRACKS

摘要

A gait planning method for a giant six-limb leg crawler foot polar scientific expedition vehicle spanning ice cracks, comprising an ice crack spanning preparation state, an ice crack spanning advancing state, and an ice crack spanning recovery state; the ice crack spanning preparation state comprises a total of 9 sequential decomposed action steps including overall forward movement, left middle limb leg crawler foot (C) and right middle limb leg crawler foot (D) rotation support, left front limb leg crawler foot (A) adduction, and right front limb leg crawler foot (B) adduction; the ice crack spanning advancing state comprises a total of 11 sequential decomposed action steps including right front limb leg crawler foot (B) and left front limb leg crawler foot (A) outward swinging, overall forward movement, right middle limb leg crawler foot (D) and left middle limb leg crawler foot (C) side swinging, and right rear limb leg crawler foot (F) and left rear limb leg crawler foot (E) inward swinging; and the ice crack spanning recovery state comprises a total of 3 sequential decomposed action steps including overall forward movement and left rear limb leg crawler foot (E) and right rear limb leg crawler foot (F) folding toward one another. Ice crack spanning by the giant six-limb leg crawler foot polar scientific expedition vehicle is thereby implemented, avoiding the occurrence of personnel and vehicle safety accidents.