六足机器人关键技术综述  

Review on key technology of the hexapod robot

作　　者：李满宏[1] 张明路[1] 张建华[1] 张小俊[1,2] 

机构地区：[1]河北工业大学机械工程学院,天津300130 [2]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机械设计》2015年第10期1-8,共8页Journal of Machine Design

基　　金：国家863计划资助项目(2012AA041508);河北省自然科学基金资助项目(E2014202154);机器人技术与系统国家重点实验室开放研究资助项目(SKLRS-2013-ZD-04)

摘　　要：六足机器人具有丰富的步态和冗余的肢体结构,凭借其离散式的地面支撑和对障碍、沟渠等复杂特殊地形及不可预知环境的极强适应性,具有广泛的应用前景。作为一个新兴的研究领域,国内外对六足机器人的研究尚处在起步阶段,并没有成熟的技术可借鉴,因此有必要对现有研究成果进行系统分析和深入总结,以促进六足机器人的进一步发展。文中简要介绍了国内外六足机器人的研究现状,详细探讨了制约六足机器人研发的仿生结构设计、步态规划和多足协调控制等关键技术问题,并对六足机器人未来发展趋势进行了构想和展望。Hexapod robot, with abundant gait, redundant structure, and discrete ground contact, had high adaptability and extensive application prospect when encountering special topographical and unpredictable environment such as obstacles, ditches and so on. As an emerging research field, international research on the hexapod robot was still in its infancy, and no mature technologies could be referenced. Thus, it is necessary to review current achievements systematically and intensively to promote further development of hexapod robot. This paper surveyed the development status of hexapod robots. Key technologies of the hexapod robot were discussed in detail, including bionic structure design, gait planning, multi-legged coordinated control, and etc. The future development trends of hexapod robot were conducted vision and outlook in the end.

关 键 词：六足机器人 仿生结构 步态规划 协调控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]