The research and simulation on the walking trajectory of the hexapod walking Bio-robot

As the matter fact that there are many joints in the hexapod walking Bio-robot and the calculation of its walking trajectory, as well as the problem of the acceleration leap caused by adopting elementary function as the robot's feet trajectory. This paper puts forward using cubic spline curves as the robots feet trajectory and designing the robot's walking gait. Then the authors conducted kinematical simulation and analyses on the model of the bionic hexapod walking robot which have done with the use of Solidworks and MSC.ADAMS. Through the simulation experiments, we validated the applicability of designed triangle gait and the feasibility of using cubic spline curve as the feet trajectory. This paper shows principle, method and course on the trajectory simulation of hexapod walking Bio-robot in detail. The way to find a converse solution under the condition of ADAMS is found, which simplifies the theory calculation and improves design efficiency.