A New Foot Trajectory Planning Method for Legged Robots and Its Application in Hexapod Robots

Compared with wheeled and tracked robots, legged robots have better movement ability are more suitable for the exploration of unknown environments. In order to further improve adaptability complex terrains such as slopes, obstacle environments, so on, this paper makes a new design robot’s foot sensing structure that can successfully provide accurate feedback landing information. Based on information, trajectory planning method named three-element determination is proposed. For each leg in one period, three elements start point support phase, end joint angle changes transfer phase where first two used control height, distance, direction movement, third element make decisions during lifting process leg. described Cartesian space, spline linear function parabolic blends used. joint-space, designed superposition reverse-chronological interpolation which obtained based changes. As an important robot, hexapod robot we by ourselves triangle gait chosen test proposed method. Experiments show that, while foot’s information be read method, achieve stable even very scenes. Although experiments performed our applicable all forms robots.