Control system and structure for hexapod robot with circular arc legs

DONG Lei, MA Jumeng

(School of Automation, Beijing Institute of Technology, Beijing 100081, China)

Abstract: Aiming at the poor ability of wheeled mobile robots obstaclenavigation, a hexapod biorobot with circular arc legs was designed, which had the advantages of wheeled and footed mobile robot. A robot control system based on Freescals MC56F8037 DSP and CAN bus was designed ;The gait、statics and kinematic model of the robot was investigated, the kinematic model was verified by ADAMS software simulation. A motor speed curve based on trigonometric function was proposed. Experiments for the driver motor and robots ability to obstaclenavigation and turning were finished. The experimental results indicate that the motor control system has good response characteristics, the robot can go over obstacle about 30 cm and has small turning radius which is helpful for the robot adapting to the environment.

Key words: Hexapod robot; circular arc legs; CAN bus; bionics