Pose Stabilization Control Algorithms For A Six-legged Bionic Robot In Complex Environments

The main objective of the project is to develop a modular and integrated six-legged bionic robot that can maintain a stable state of the body under relatively complex conditions.Based on this aim,the basic hardware experimental platform for the six-legged robot is built from a bionic perspective.In the process of modelling the structure,the biological structure of the hexapod reptile is decomposed,and suitable mechanical structures are selected to replicate the biological structures of the hip,knee,ankle and limb joints.In order to control the posture of the six-legged robot,sensors were installed on the experimental body to obtain posture data.In order to make the behavioral movements of the bionic six-legged robot more coordinated and to optimize the stability control algorithm,a gait library covering a large number of gait movements was created in action groups after the hardware experimental platform was built.In the process of building the gait library,the gait action groups are designed and optimized from the perspectives of positive kinematic analysis,inverse kinematic analysis and spatial analysis of single-legged motion of the robot,so that unnecessary interference noise to the control system caused by unstable basic gait actions can be avoided during the invocation of the gait stabilization control algorithm.The main basis of the gait stabilization control algorithm is real-time gait information,and the motion process generates a variety of complex noises,including electronic noise.The output data and waveforms are analyzed under the same conditions,and the robustness of the system is greatly improved.After optimizing the attitude data of the six-legged robot,the attitude stability control system will analyze the attitude of the robot based on the optimized data from the motion attitude subsystem.The tilt of the six-legged robot is analyzed under different conditions,and the overall control strategy is optimized by combining the motion gait period and step length.After extensive multi-component experiments on the possible tilt states of the body in a variety of complex environments,the final experimental results show that the posture stabilization control algorithm can improve the overall robustness of the system while ensuring its stability,and can cope with the aim of stabilizing the posture of the six-legged bionic robot in complex environments.