CN108657303A - The Servo Control method, apparatus and hexapod robot of hexapod robot - Google Patents
The Servo Control method, apparatus and hexapod robot of hexapod robot Download PDFInfo
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- CN108657303A CN108657303A CN201710204374.9A CN201710204374A CN108657303A CN 108657303 A CN108657303 A CN 108657303A CN 201710204374 A CN201710204374 A CN 201710204374A CN 108657303 A CN108657303 A CN 108657303A
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- foot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of Servo Control method, apparatus of hexapod robot and hexapod robots.Wherein, this method includes：The hip joint for controlling robot lower abdominal carries out moving in rotation around the center of circle to be turned along preset movement locus；The foot of front leg and back leg of the robot on the left of center of circle moving in rotation lower abdominal to be turned is controlled, while rotating the foot of the intermediate leg on the right side of lower abdominal；The foot of front leg and back leg of the robot on the right side of center of circle moving in rotation lower abdominal to be turned is controlled, while the foot for rotating the intermediate leg on the left of lower abdominal completes turning.The turning motion for solving the mechanical arm of hexapod robot through the invention has reached the more preferable technique effect for imitating six sufficient mammal turnings.
Description
Technical field
The present invention relates to robotic technology fields, Servo Control method, dress in particular to hexapod robot
It sets and hexapod robot.
Background technology
The structure design of Hexapod Robot is with reference to the extremity body structures for imitating arthropod in the prior art, and mechanical arm is located at
This body side surface, the design of degree of freedom have also fully taken into account the demand of turning motion.Different from six sufficient arthropods robots, six foots
The mechanical arm of mammality robot is located at the lower section of ontology, and the degree of freedom of mechanical arm is limited, therefore, for six sufficient mammalitys
The turning motion planning of robot has apparent difference compared to six sufficient arthropods robots, also increasingly complex, currently, without skill
The mechanical arm turning motion of the sufficient mammality of art pair six robot proposed effective solution scheme.
Invention content
The present invention provides the Servo Control method, apparatus of hexapod robot and hexapod robots, to solve
The turning motion problem of the mechanical arm of six sufficient mammal robots.
One side according to the ... of the embodiment of the present invention provides a kind of Servo Control method of hexapod robot, packet
It includes：The hip joint for controlling the robot lower abdominal carries out moving in rotation around the center of circle to be turned along preset movement locus；
The foot of front leg and back leg of the robot on the left of the center of circle moving in rotation lower abdominal to be turned is controlled, simultaneously
Rotate the foot of the intermediate leg on the right side of lower abdominal；The robot is controlled around the center of circle moving in rotation lower abdominal to be turned
The foot of the front leg and back leg on right side, while the foot for rotating the intermediate leg on the left of lower abdominal completes turning.
Further, the hip joint of the robot lower abdominal is controlled around the center of circle to be turned along preset movement locus
Carrying out moving in rotation includes：Use rotation angle multinomial planning rotation angle track；According to the rotation angle trajectory calculation institute
Hip joint motion track is stated；Keep the initial position of all feet constant, while will be described according to the hip joint motion track
Hip joint is moved to target location, the initial bit of the initial position and the hip joint of all feet from hip joint initial position
It sets on same vertical line, the perpendicular line is in ground.
Further, front leg of the robot on the right side of the center of circle moving in rotation lower abdominal to be turned is controlled
With the foot of back leg, while the foot for rotating the intermediate leg on the left of lower abdominal includes：Rotation angle is planned using rotation angle multinomial
Spend track；According to the movement locus of the first foot to be moved of the rotation angle trajectory calculation, first foot to be moved includes abdomen
The foot of the front leg of portion's lower right, the foot of back leg and the intermediate leg on the left of lower abdominal；Where keeping the first hip joint
Target location is constant, while being waited for the described first foot to be moved from described first according to the movement locus of the described first foot to be moved
The initial position of mobile foot is moved at first position, and the target location of the first position and first hip joint is same
On vertical line, the perpendicular line is connect with the described first foot to be moved by leg in ground, first hip joint.
Further, front leg of the robot on the left of the center of circle moving in rotation lower abdominal to be turned is controlled
With the foot of back leg, while the foot for rotating the intermediate leg on the right side of lower abdominal includes：Rotation angle is planned using rotation angle multinomial
Spend track；According to the movement locus of the second foot to be moved of the rotation angle trajectory calculation, second foot to be moved includes abdomen
The foot of the front leg of portion's lower left, the foot of back leg and the intermediate leg on the right side of lower abdominal；Mesh where keeping the second hip joint
Cursor position is constant, at the same according to the movement locus of the described second foot to be moved from the initial position of the described second foot to be moved by institute
It states the second foot to be moved and is moved to the second place, the target location of the second position and second hip joint is in same
On vertical line, the perpendicular line is connect with the described second foot to be moved by leg in ground, second hip joint.
Further, include using rotation angle multinomial planning rotation angle track：Fitting of a polynomial is carried out to rotation angle,
It is fitted with specific reference to following equation：Theta (0)=0, theta (T1)=angle_step, dtheta (0)=0, dtheta
(T1)=0；Theta (t) is rotation angle track, and T1 is any single phase duration, and angle_step is rotation angle,
Dtheta (t) is angular speed.
Further, the hip joint of the robot lower abdominal is controlled around the center of circle to be turned along preset movement locus
Carrying out moving in rotation includes：The whole hip joints for controlling the robot lower abdominal are moved around the center of circle to be turned along preset
Track carries out moving in rotation, alternatively, controlling the part hip joint of the robot lower abdominal around the center of circle to be turned along default
Movement locus carry out moving in rotation, wherein the part hip joint is the hip joint of the leg connection where foot to be rotated.
Further, according to the rotation angle trajectory calculation first is to be moved or the movement locus packet of the second foot to be moved
It includes：Every foot in first foot to be moved or the second foot to be moved is calculated according to formula z=HW*sin (theta) moving
Track is moved forward and backward in space；Wherein, HW is every foot in the first foot to be moved or the second foot to be moved and circle to be turned
Distance between the heart, z are position of the every foot in space in direction of advance in the first foot to be moved or the second foot to be moved
It moves, theta is rotation angle；It is calculated in first foot to be moved or the second foot to be moved according to formula y=HW*cos (theta)
Every foot track is displaced sideways in space；Wherein, HW is every in the first foot to be moved or the second foot to be moved
For foot to the distance between the center of circle to be turned, y is every foot in the first foot to be moved or the second foot to be moved in space
Perpendicular to the lateral displacement of direction of advance on middle horizontal plane, theta is rotation angle；Described first is calculated using fitting of a polynomial to wait for
Every foot in mobile foot or the second foot to be moved vertically moves track in space, with specific reference to x (0)=0, x (T2/
2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)=0, dx (T2)=0 are fitted, wherein dx is the first foot to be moved
Or the movement speed of second every foot in foot to be moved, H1 are every pin pitch in the first foot to be moved or the second foot to be moved
Height from the ground, x (t) is for every foot in the first foot to be moved or the second foot to be moved perpendicular to level in space
The length travel in face, T2 are the time of every foot movement in the first foot to be moved or the second foot to be moved.
Further, include according to hip joint motion track described in the rotation angle trajectory calculation：According to formula z '=
HW*sin (theta) calculates the hip joint and is moved forward and backward track in space；Wherein, HW is any one in all feet
Foot is to the distance between the center of circle to be turned, and theta is rotation angle, and z ' is hip joint direction of advance in space
Displacement；The hip joint is calculated according to formula y '=HW*cos (theta), and track is displaced sideways in space；Wherein,
HW is any one foot in all feet to the distance between the center of circle to be turned, and theta is rotation angle, and y ' is the hip joint
Lateral displacement in space on horizontal plane perpendicular to direction of advance；The hip joint is calculated according to formula x ' (t)=H2
Track is vertically moved in space；Wherein, H2 is height of the hip joint apart from ground, and x ' (t) is the hip joint
Perpendicular to the length travel of horizontal plane in space.
Another aspect according to the ... of the embodiment of the present invention provides the Servo Control device of hexapod robot, the present invention
A kind of hexapod robot Servo Control device, including：First control unit, for controlling under the robot abdomen
The hip joint of side carries out moving in rotation around the center of circle to be turned along preset movement locus；Second control unit, for controlling
The foot of front leg and back leg of the robot on the left of the center of circle moving in rotation lower abdominal to be turned is stated, while rotating abdomen
The foot of the intermediate leg of portion's lower right；Third control unit is rotated for controlling the robot around the center of circle to be turned
The foot of front leg and back leg on the right side of mobile lower abdominal, while the foot for rotating the intermediate leg on the left of lower abdominal is completed to turn
It is curved.
Further, first control unit includes：First planning module, for using the planning rotation of rotation angle multinomial
Gyration track；First computing module, for having hip joint motion track according to described in the rotation angle trajectory calculation；First
Control module, for keeping the initial position of all feet constant, while according to the hip joint motion track by the hip joint
It is moved to target location from hip joint initial position, the initial position of all feet is with the initial position of the hip joint same
On one vertical line, the perpendicular line is in ground.
Further, second control unit includes：Second planning module, for using the planning rotation of rotation angle multinomial
Gyration track；Second computing module, for the movement locus according to the first foot to be moved of the rotation angle trajectory calculation, institute
State the first foot to be moved include front leg on the right side of lower abdominal, back leg foot and the intermediate leg on the left of lower abdominal foot；
Second control module, it is constant for the target location where keeping the first hip joint, while according to the described first foot to be moved
Described first foot to be moved is moved to from the initial position of the described first foot to be moved from first position by movement locus, and described
The target location of one position and first hip joint is on same vertical line, and the perpendicular line is in ground, and described the
One hip joint is connect with the described first foot to be moved by leg.
Further, the third control unit includes：Third planning module, for using the planning rotation of rotation angle multinomial
Gyration track；Third computing module, for the movement locus according to the second foot to be moved of the rotation angle trajectory calculation, institute
State the second foot to be moved include front leg on the left of lower abdominal, back leg foot and the intermediate leg on the right side of lower abdominal foot；
Third control module, it is constant for target location where keeping the second hip joint, while according to the fortune of the described second foot to be moved
Described second foot to be moved is moved to the second place by dynamic rail mark from the initial position of the described second foot to be moved, and described second
The target location of position and second hip joint is on same vertical line, and the perpendicular line is in ground, and described second
Hip joint is connect with the described second foot to be moved by leg.
Further, first planning module, the second planning module, third planning module include：First fitting
Module, for carrying out fitting of a polynomial according to following equation to rotation angle：Theta (0)=0, theta (T1)=angle_
Step, dtheta (0)=0, dtheta (T1)=0；Theta (t) is rotation angle track, and T1 is when continuing in any single stage
Between, angle_step is rotation angle, and dtheta (t) is angular speed.
Further, first control unit includes：Whole control module, for controlling the robot lower abdominal
Whole hip joints around the center of circle to be turned along preset movement locus carry out moving in rotation, alternatively, part control module, is used for
The part hip joint for controlling the robot lower abdominal carries out moving in rotation around the center of circle to be turned along preset movement locus,
Wherein, the part hip joint is the hip joint of the leg connection where foot to be rotated.
Further, second control unit or the third control unit include：First computational submodule is used for root
Every foot in first foot to be moved or the second foot to be moved is calculated in space according to formula z=HW*sin (theta)
Middle back-and-forth motion track；Wherein, HW be every foot and the center of circle to be turned in the first foot to be moved or the second foot to be moved it
Between distance, z is displacement of the every foot in space in direction of advance in the first foot to be moved or the second foot to be moved,
Theta is rotation angle；Second computational submodule, for calculating first foot to be moved according to formula y=HW*cos (theta)
Or second every foot in foot to be moved is displaced sideways track in space；Wherein, HW is the first foot to be moved or second
For every foot in foot to be moved to the distance between the center of circle to be turned, y is in the first foot to be moved or the second foot to be moved
Lateral displacement of the every foot in space on horizontal plane perpendicular to direction of advance, theta are rotation angle；Second fitting submodule
Block, for according to x (0)=0, x (T2/2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)=0, dx (T2)=0 multinomial
Every foot in first foot to be moved or the second foot to be moved described in the Fitting Calculation vertically moves track in space,
In, dx is the movement speed of the first foot to be moved or every foot in the second foot to be moved, and H1 is the first foot to be moved or second
The height of every pin pitch from the ground in foot to be moved, x (t) are that every foot in the first foot to be moved or the second foot to be moved exists
Perpendicular to the length travel of horizontal plane in space, T2 is every foot movement in the first foot to be moved or the second foot to be moved
Time.
Further, first computing module includes：Third computational submodule, for according to formula z '=HW*sin
(theta) it calculates the hip joint and is moved forward and backward track in space；Wherein, HW is that any one foot in all feet arrives
The distance between center of circle to be turned, theta are rotation angle, and z ' is the position of hip joint direction of advance in space
It moves；4th computational submodule, it is lateral in space for calculating the hip joint according to formula y '=HW*cos (theta)
Motion track；Wherein, HW be all feet in any one foot to the distance between the center of circle to be turned, theta is rotation angle,
Y ' is lateral displacement of the hip joint in space on horizontal plane perpendicular to direction of advance；Third is fitted submodule, uses
Track is vertically moved in space in calculating the hip joint according to formula x ' (t)=H2；Wherein, H2 is the hip joint
Height apart from ground, x ' (t) is for the hip joint perpendicular to the length travel of horizontal plane in space.
Another aspect according to the ... of the embodiment of the present invention provides a kind of hexapod robot, including appoints in claim
The Servo Control device of hexapod robot described in meaning one.
Another aspect according to the ... of the embodiment of the present invention provides a kind of storage medium, journey is preserved on the storage medium
Sequence, the Servo Control method of hexapod robot when described program is run described in any one of perform claim requirement.
Another aspect according to the ... of the embodiment of the present invention provides a kind of processor, and the processor is for running program, institute
State the Servo Control method of hexapod robot when program is run described in any one of perform claim requirement.
According to inventive embodiments, the hip joint of the robot lower abdominal is controlled around the center of circle to be turned along preset fortune
Dynamic rail mark carries out moving in rotation；Control front of the robot on the left of the center of circle moving in rotation lower abdominal to be turned
The foot of leg and back leg, while rotating the foot of the intermediate leg on the right side of lower abdominal；The robot is controlled around described to be turned
The foot of front leg and back leg on the right side of the moving in rotation lower abdominal of the center of circle, while rotating the foot of the intermediate leg on the left of lower abdominal
Complete turning.The turning motion for solving the mechanical arm of six sufficient mammal robots through the invention, reaches
The more preferable technique effect for imitating six sufficient mammals turnings.
Description of the drawings
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the flow chart of the Servo Control method of hexapod robot according to the ... of the embodiment of the present invention；
Fig. 2 is the schematic diagram of hexapod robot leg according to the ... of the embodiment of the present invention；
The trajectory diagram of hip joint movement when Fig. 3 is hexapod robot turning according to the ... of the embodiment of the present invention；
The trajectory diagram of portion of midfoot movement when Fig. 4 is hexapod robot turning according to the ... of the embodiment of the present invention；
The trajectory diagram of another part foot movement when Fig. 5 is hexapod robot turning according to the ... of the embodiment of the present invention；
Rotation angle track fitting figure when Fig. 6 is hexapod robot turning according to the ... of the embodiment of the present invention；
Fig. 7 is that the foot (can also be ankle) of hexapod robot according to the ... of the embodiment of the present invention is moved forward and backward the quasi- of track
Close figure；
Fig. 8 is the quasi- of foot (can also be ankle) the lateral movement track of hexapod robot according to the ... of the embodiment of the present invention
Close figure
Fig. 9 is the quasi- of foot (can also be ankle) the longitudinal movement track of hexapod robot according to the ... of the embodiment of the present invention
Close figure；
Figure 10 is that the hip joint of hexapod robot according to the ... of the embodiment of the present invention is moved forward and backward the fitted figure of track；
Figure 11 is the fitted figure of the hip joint lateral movement track of hexapod robot according to the ... of the embodiment of the present invention；
Figure 12 is the schematic diagram of the Servo Control device of hexapod robot according to the ... of the embodiment of the present invention.
Specific implementation mode
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model that the present invention protects
It encloses.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to the embodiment of the present invention described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
An embodiment of the present invention provides a kind of robot turning methods.Fig. 1 is a kind of six foot according to the ... of the embodiment of the present invention
The flow chart of the Servo Control method of animal robot.Fig. 2 is a kind of signal of hexapod robot leg of the present embodiment
Figure, as illustrated in fig. 1 and 2, it is as follows that the method comprising the steps of：
Step S102, the hip joint 1 of control robot lower abdominal around the center of circle to be turned along preset movement locus into
Row moving in rotation；Hip joint 1 is the turning joint that the leg of robot is connected with robot abdomen 4；The turning joint can be done
Pitching and the action for laterally rolling rotation.Hip joint 1 is controlled at first in robot ambulation to rotate to the direction to be turned,
He remains unchanged in joint.
Step S104, front leg and back of the control robot around moving in rotation abdomen 4 lower left in the center of circle to be turned
The foot of leg, while rotating the foot 3 of the intermediate leg on the right side of lower abdominal；The end that toe robot leg is contacted with ground；The foot
It can be ankle-joint；The amplitude of foot movement is similar with the amplitude that ankle-joint moves, and the movement of foot can also be according to be turned
It is curved to determine, it can also be determined according to the movement of hip joint.
Step S106, front leg and back leg of the control robot on the right side of center of circle moving in rotation lower abdominal to be turned
Foot 3, while the foot 3 for rotating intermediate leg on the left of lower abdominal completes turning；
Can also be the foot of the front leg and back leg that first move right side in the above process, with the intermediate leg in mobile left side
Foot.According to direction optimum scheme comparison to be turned, optimal case be front foot of the selection far from mobile turn direction side with
Back foot first moves, for example, robot walks forward when encountering turning clockwise, then move at first be left side front foot and
The crura intermedium on the additional right side of back foot, robot walk forward encounter needs counterclockwise turning when, then move at first be right side
Front foot and the additional left side of back foot crura intermedium, stabilization when ensureing revolute with this, robot in the above process
Leg can also be 6 or more, be maintained for as long as ensureing that the front foot far from mobile turn direction side is first moved with back foot
Opposite stabilization.
In above-mentioned steps, as shown in Fig. 2, Fig. 2 is the signal of hexapod robot leg according to the ... of the embodiment of the present invention
Figure first moves in hip joint 1, then 4 side of mobile robot abdomen towards predetermined direction among the 3 additional other side of foot at front and back both ends
Foot 3, then move other remaining feet 3 again, this is different from the leg exercise of arthropod in the prior art, to solve
The turning motion for solving the problems, such as the mechanical arm of six sufficient mammality robots has reached the technology of more preferable imitation mammal turning
Effect.
When robot control hip joint movement, the amplitude for needing control mobile and direction, in an optional embodiment party
In formula, the hip joint around moving in rotation robot lower abdominal in the center of circle to be turned includes：
Step S202 uses rotation angle multinomial planning rotation angle track；
Step S204 has hip joint motion track according to rotation angle trajectory calculation；
Step S206 keeps the initial position of all feet constant, at the same according to hip joint motion track by hip joint from hip
Joint initial position is moved to target location, and the initial position of all feet and the initial position of hip joint are in same vertical line
On, perpendicular line is in ground.
It illustrates below and above-mentioned steps is illustrated, Fig. 3 is hexapod robot turning according to the ... of the embodiment of the present invention
When hip joint movement trajectory diagram, as shown in figure 3, horizontal axis represents the direction of advance of robot in figure, the longitudinal axis represents lateral displacement,
Transverse and longitudinal axis unit is rice, and " rice " word for marking 6 represents the track that the hip joint position of foreleg is moved, and marks 5 " rice "
Word represents the track of the hip joint position movement of intermediate leg, and " rice " word for marking 4 represents the hip joint position of back leg
Mobile track；Cross with circle represents the position of foot.In figure 3, direction to be turned is counterclockwise, the hip joint of all legs
It moves to direction to be turned, that is, is moved according to the track of calculating together, the initial position of hip joint is in Fig. 3 with circle
At cross, which is also the initial position that every leg corresponds to foot, and during hip joint moves, the position of foot is not
Become, still keeps initial position.
By the above embodiment, at first all hip joints one are moved according to hip joint motion track, and foot keeps in situ
It sets, the action that robot moves is subjected to decomposition campaign, ensure that the stability of robot movement.
After the complete hip joint of movement, the foot of a mobile part is said with reference to an optional embodiment for robot
Bright, the foot of front leg and back leg of the control robot on the right side of center of circle moving in rotation lower abdominal to be turned rotates simultaneously
The foot of intermediate leg on the left of lower abdominal can be：First, using rotation angle multinomial planning rotation angle track；Secondly, root
According to the movement locus of the first foot to be moved of rotation angle trajectory calculation, the first foot to be moved includes the front on the right side of lower abdominal
The foot of leg, the foot of back leg and the intermediate leg on the left of lower abdominal；Finally, keep the first hip joint where target location not
Become, while being moved to the first foot to be moved from the initial position of the first foot to be moved according to the movement locus of the first foot to be moved
At first position, the target location of first position and the first hip joint is on same vertical line, and perpendicular line is in ground, and the
One hip joint is connect with the first foot to be moved by leg.
It illustrates below and above-mentioned steps is illustrated, portion of midfoot is moved when Fig. 4 is the robot turning of the embodiment of the present invention
Dynamic trajectory diagram.As shown in figure 4, horizontal axis represents the direction of advance of robot in figure, the longitudinal axis represents lateral displacement, transverse and longitudinal axis unit
It is rice, " rice " word for marking 6 represents the hip joint position of foreleg, and " rice " word for marking 5 represents the hip joint of intermediate leg
Position, " rice " word for marking 4 represent the hip joint position of back leg；Cross with circle represents the position of foot, does not have
Cross with circle represents the motion track of foot position, and in Fig. 4, direction of rotation is counterclockwise, in Fig. 4, in the left side
Between the additional the right of leg front leg and back leg foot it is mobile simultaneously, motion track and hip joint can be consistent.
Keep the position of hip joint constant through the above steps, first move away from the front foot of mobile turn direction side with
Back foot, can imitate the walking manner of mammal and maintain robot it is mobile when stability.
After the foot of a part for mobile robot, then remaining foot is moved, in an optional embodiment, control
The foot of front leg and back leg of the robot on the left of center of circle moving in rotation lower abdominal to be turned, while rotating lower abdominal
The foot of the intermediate leg on right side can be：First, using rotation angle multinomial planning rotation angle track；Secondly, according to rotation angle
The movement locus of the second foot to be moved of trajectory calculation is spent, the second foot to be moved includes front leg, the back leg on the left of lower abdominal
Foot and lower abdominal on the right side of intermediate leg foot；Finally, target location where keeping the second hip joint is constant, while basis
Second foot to be moved is moved to the second place by the movement locus of the second foot to be moved from the initial position of the second foot to be moved,
The target location of the second position and the second hip joint on same vertical line, perpendicular line in ground, the second hip joint with
Second foot to be moved is connected by leg.
It illustrates below and above-mentioned steps is illustrated, Fig. 5 moves another portion when being the robot turning of the embodiment of the present invention
Divide the trajectory diagram of foot movement.As shown in figure 5, horizontal axis represents the direction of advance of robot in figure, the longitudinal axis represents lateral displacement, transverse and longitudinal
Axis unit is rice, and " rice " word for marking 6 represents the hip joint position of foreleg, and " rice " word for marking 5 represents intermediate leg
Hip joint position, " rice " word for marking 4 represent the hip joint position of back leg；Cross with circle represents the position of foot
It sets, the cross with circle does not represent the motion track of foot position, and in Figure 5, direction of rotation is counterclockwise, in Fig. 5, moves
The remaining foot not moved is moved, the foot of the front leg and back leg on the additional left side of intermediate leg on the right, motion track and hip are included
Joint can be consistent, other feet can be remained unchanged with all hip joints in mobile process.
The position of the position and hip joint that keep the portion of midfoot being moved through through the above steps is constant, then moves remaining
Foot foot, can imitate the walking manner of mammal and maintain robot it is mobile when stability.
In above-mentioned steps, it can be fitted by matlab using rotation angle multinomial planning rotation angle track,
In one optional embodiment, theta (0)=0, theta (T1)=angle_step, dtheta is fitted according to following equation
(0)=0, dtheta (T1)=0；Theta (t) is rotation angle track, and T1 is any single phase duration, angle_step
For rotation angle, dtheta (t) is angular speed.
As shown in fig. 6, rotation angle track fitting when Fig. 6 is hexapod robot turning according to the ... of the embodiment of the present invention
Figure, the longitudinal axis represent rotation angle, and unit is radian, and horizontal axis represents the time, and unit is the second, with the extension of time, robot rotates
Angle gradually increase.
In above-mentioned steps, need according to rotation angle trajectory calculation first is to be moved or the movement rail of the second foot to be moved
Mark controls mobile foot again further according to the movement locus of the foot after calculating, in an optional embodiment, calculates the movement of foot
Track is divided into three directions and is respectively calculated, as follows：
The calculating in first direction is to calculate foot to be moved forward and backward track in space；According to formula z=HW*sin
(theta) the every foot calculated in the first foot to be moved or the second foot to be moved is moved forward and backward track in space；Wherein,
HW is the first foot to be moved or every foot in the second foot to be moved and distance between the center of circle to be turned, and z is first to be moved
Displacement of the every foot in space in direction of advance in foot or the second foot to be moved, theta is rotation angle；
The calculating in second direction is to calculate foot to be displaced sideways track in space；According to formula y=HW*cos
(theta) the every foot calculated in the first foot to be moved or the second foot to be moved is displaced sideways track in space；Wherein,
HW is every foot in the first foot to be moved or the second foot to be moved to the distance between the center of circle to be turned, and y waits moving for first
Lateral displacement of the every foot in space on horizontal plane perpendicular to direction of advance in dynamic foot or the second foot to be moved,
Theta is rotation angle；
The calculating in third direction is to calculate foot to vertically move track in space, and the is calculated using fitting of a polynomial
Every foot in one foot to be moved or the second foot to be moved vertically moves track in space, with specific reference to x (0)=0, x
(T2/2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)=0, dx (T2)=0 are fitted, wherein dx waits moving for first
The movement speed of dynamic foot or every foot in the second foot to be moved, H1 are every in the first foot to be moved or the second foot to be moved
The height of pin pitch from the ground, x (t) be every foot in the first foot to be moved or the second foot to be moved in space perpendicular to
The length travel of horizontal plane, T2 are the time of every foot movement in the first foot to be moved or the second foot to be moved.
As shown in fig. 7, Fig. 7, which is the foot (can also be ankle) of hexapod robot, is moved forward and backward the fitted figure of track, indulge
Axis represents displacement, and unit is rice, and horizontal axis represents the time, and unit is the second, and Fig. 7 shows foot in direction of advance with the fortune of time
Dynamic rail mark.As shown in figure 8, Fig. 8 is the fitted figure of foot (can also be ankle) the lateral movement track of hexapod robot, the longitudinal axis
Displacement is represented, unit is rice, and horizontal axis represents the time, and unit is the second.Fig. 8 shows foot in direction of advance with the movement of time
Track.The foot of robot during the turn, with the extension of time, it is lateral and it is front and back to (the namely direction of advance of foot, because
For be turning advance) displacement increase.
As shown in figure 9, Fig. 9 is the fitted figure of foot (can also be ankle) the longitudinal movement track of Hexapod Robot, longitudinal axis generation
Epitope is moved, and unit is rice, and horizontal axis represents the time, and unit is the second, Fig. 9 show the movement of the foot of robot in the longitudinal direction be with
Time duration displacement first increases to be reduced again, the process that the foot for corresponding to robot is lifted and fallen.
The movement locus of robot foot is accurately calculated through the above steps.
In above-mentioned steps, need, according to rotation angle trajectory calculation hip joint motion track, to close further according to the hip after calculating
Motion track is saved to move hip joint, in an optional embodiment, hip joint motion track is divided into three directions difference
It calculates：
First direction is to calculate hip joint to be moved forward and backward track in space：According to formula z '=HW*sin
(theta) it calculates hip joint and is moved forward and backward track in space；Wherein, HW is any one foot in all feet to waiting for turn
The distance between curved center of circle, theta are rotation angle, and z ' is the displacement of hip joint direction of advance in space；
Second direction is to calculate hip joint to be displaced sideways track in space；According to formula y '=HW*cos
(theta) it calculates hip joint and is displaced sideways track in space；Wherein, HW is any one foot in all feet to waiting for turn
The distance between curved center of circle, theta are rotation angle, y ' be hip joint in space on horizontal plane perpendicular to direction of advance
Lateral displacement；
Third direction is to calculate hip joint to vertically move track in space, is calculated according to formula x ' (t)=H2
Hip joint vertically moves track in space；Wherein, H2 is height of the hip joint apart from ground, and x ' (t) is that hip joint exists
Perpendicular to the length travel of horizontal plane in space.
As shown in Figure 10, Figure 10 is that the hip joint of hexapod robot is moved forward and backward the fitted figure of track, and the longitudinal axis represents
Displacement, unit are rice, and horizontal axis represents the time, and unit is the second, and Figure 10 shows the hip joint of hexapod robot along advance side
Upwards with the movement locus of time.As shown in figure 11, Figure 11 is the hip joint lateral movement track of hexapod robot
Fitted figure, the longitudinal axis represent displacement, and unit is rice, and horizontal axis represents the time, and unit is the second.Fig. 7 shows hexapod robot
Hip joint is in direction of advance with the movement locus of time.Robot during the turn, hip joint with the extension of time,
The lateral and front and back displacement to (the namely direction of advance of robot, because being the advance of turning) of hip joint increases.
The movement locus of robot hip joint is accurately calculated through the above steps.
When the hip joint of control robot lower abdominal carries out rotation shifting around the center of circle to be turned along preset movement locus
When dynamic, the hip joint that hip joint can be whole before this is carried out at the same time movement, then moves foot to be moved, can also move before this and
The corresponding hip joint of foot to be moved, then move foot, that is, whole hip joints of control robot lower abdominal are around circle to be turned
The heart carries out moving in rotation along preset movement locus, alternatively, the part hip joint of control robot lower abdominal is around to be turned
The center of circle carries out moving in rotation along preset movement locus, wherein part hip joint is the hip of the leg connection where foot to be moved
Joint.
It is illustrated below with an optional embodiment citing：
The turning step of mammal robot is planned：1) around center, (can refer to the center of circle to be turned can also refer to machine
The geometric center of people) twisting hip joint 2) around center the end (can be foot, can also be ankle) 3) of a part of leg is rotated around in
The end of other remaining legs of heart rotation.
The planning of Hexapoda mammal robot motion track is in above-mentioned steps：
With Polynomial Method planning rotation angle track；
According to angle trajectory calculation hip joint track；
According to angle trajectory calculation Anklebone track.
The leg of robot can also be 6 or more in above-mentioned steps, and body is steady when movable sequential selection guarantee activity
Fixed sequence.
The embodiment of the present invention additionally provides a kind of Servo Control device of hexapod robot.The device can control list
Member realizes its function.It should be noted that a kind of Servo Control device of hexapod robot of the embodiment of the present invention can be with
Servo Control method for executing a kind of hexapod robot that the embodiment of the present invention is provided, the one of the embodiment of the present invention
A kind of hexapod machine that the Servo Control method of kind hexapod robot can also be provided through the embodiment of the present invention
The Servo Control device of people executes.
Figure 12 is a kind of schematic diagram of the Servo Control device of hexapod robot according to the ... of the embodiment of the present invention.Such as figure
Shown in 12, a kind of Servo Control device of hexapod robot includes：
First control unit 122, for controlling the hip joint of robot lower abdominal around the center of circle to be turned along preset
Movement locus carries out moving in rotation；
Second control unit 124, before controlling robot on the left of center of circle moving in rotation lower abdominal to be turned
The foot of side leg and back leg, while rotating the foot of the intermediate leg on the right side of lower abdominal；
Third control unit 126, before controlling robot on the right side of center of circle moving in rotation lower abdominal to be turned
The foot of side leg and back leg, while the foot for rotating the intermediate leg on the left of lower abdominal completes turning.
In an optional embodiment, the first control unit includes：
First planning module, for using rotation angle multinomial planning rotation angle track；
First computing module, for having hip joint motion track according to rotation angle trajectory calculation；
First control module, for keeping the initial position of all feet constant, while according to hip joint motion track by hip
Joint is moved to target location from hip joint initial position, and the initial position of all feet and the initial position of hip joint are in same
On vertical line, perpendicular line is in ground.
In an optional embodiment, the second control unit includes：
Second planning module, for using rotation angle multinomial planning rotation angle track；
Second computing module, for the movement locus according to the first foot to be moved of rotation angle trajectory calculation, first waits moving
Dynamic foot include front leg on the right side of lower abdominal, back leg foot and the intermediate leg on the left of lower abdominal foot；
Second control module, it is constant while to be moved according to first for the target location where keeping the first hip joint
First foot to be moved is moved to from the initial position of the first foot to be moved from first position by the movement locus of foot, first position with
The target location of first hip joint is on same vertical line, and perpendicular line is in ground, the first hip joint and first to be moved
Foot is connected by leg.
In an optional embodiment, third control unit includes：
Third planning module, for using rotation angle multinomial planning rotation angle track；
Third computing module, for the movement locus according to the second foot to be moved of rotation angle trajectory calculation, second waits moving
Dynamic foot include front leg on the left of lower abdominal, back leg foot and the intermediate leg on the right side of lower abdominal foot；
Third control module, it is constant for target location where keeping the second hip joint, while according to the second foot to be moved
Movement locus the second foot to be moved is moved to the second place from the initial position of the second foot to be moved, the second position and the
The target location of two hip joints is on same vertical line, and perpendicular line is in ground, the second hip joint and the second foot to be moved
It is connected by leg.
In an optional embodiment, the first planning module, the second planning module, third planning module include：
First fitting submodule, for carrying out fitting of a polynomial according to following equation to rotation angle：Theta (0)=0,
Theta (T1)=angle_step, dtheta (0)=0, dtheta (T1)=0；Theta (t) is rotation angle track, and T1 is to appoint
One single phase duration, angle_step are rotation angle, and dtheta (t) is angular speed.
In an optional embodiment, the first control unit includes：
Whole control module, for controlling whole hip joints of robot lower abdominal around the center of circle to be turned along preset
Movement locus carries out moving in rotation, alternatively,
Part control module, for controlling the part hip joint of robot lower abdominal around the center of circle to be turned along preset
Movement locus carries out moving in rotation, wherein part hip joint is the hip joint being connected with the leg where foot to be moved.
In an optional embodiment, the second control unit or third control unit include：
First computational submodule, for waiting moving according to formula z=HW*sin (theta) the first feet to be moved of calculating or second
Every foot in dynamic foot is moved forward and backward track in space；Wherein, HW is in the first foot to be moved or the second foot to be moved
Every foot and the center of circle to be turned between distance, z is that every foot in the first foot to be moved or the second foot to be moved is moving
Displacement in space in direction of advance, theta are rotation angle；
Second computational submodule, for waiting moving according to formula y=HW*cos (theta) the first feet to be moved of calculating or second
Every foot in dynamic foot is displaced sideways track in space；Wherein, HW is in the first foot to be moved or the second foot to be moved
Every foot to the distance between the center of circle to be turned, y is that every foot in the first foot to be moved or the second foot to be moved is being transported
Lateral displacement in dynamic space on horizontal plane perpendicular to direction of advance, theta is rotation angle；
Second fitting submodule, for according to x (0)=0, x (T2/2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)
=0, dx (T2)=0 fitting of a polynomial calculates every foot in the first foot to be moved or the second foot to be moved and is indulged in space
To motion track, wherein dx is the movement speed of the first foot to be moved or every foot in the second foot to be moved, and H1 waits for for first
The height of every pin pitch from the ground in mobile foot or the second foot to be moved, x (t) is the first foot to be moved or the second foot to be moved
In every foot in space perpendicular to the length travel of horizontal plane, T2 is in the first foot to be moved or the second foot to be moved
Every foot movement time.
In an optional embodiment, the first computing module includes：
Third computational submodule, before calculating hip joint in space according to formula z '=HW*sin (theta)
Motion track afterwards；Wherein, HW is any one foot in all feet to the distance between the center of circle to be turned, and theta is rotation
Angle, z ' are the displacement of hip joint direction of advance in space；
4th computational submodule, for calculating hip joint side in space according to formula y '=HW*cos (theta)
To motion track；Wherein, HW is any one foot in all feet to the distance between the center of circle to be turned, and theta is rotation
Angle, y ' are lateral displacement of the hip joint in space on horizontal plane perpendicular to direction of advance；
Third is fitted submodule, and rail is vertically moved in space for calculating hip joint according to formula x ' (t)=H2
Mark；Wherein, H2 is height of the hip joint apart from ground, and x ' (t) is for hip joint perpendicular to the longitudinal direction of horizontal plane in space
Displacement.
A kind of above-mentioned robot turning device embodiment is corresponding with a kind of robot turning method, so for having
Beneficial effect repeats no more.It is described by the analysis of above-described embodiment, health degree (every sub- industry relative to traditional operation system
Be engaged in corresponding service processes operating status) for detection, the part optional embodiment in above-described embodiment have it is following technically
Effect：
Solves the mechanical arm of six sufficient mammality robots by the planning of the turning of Hexapoda mammal robot
Turning motion problem has reached the technique effect of more preferable imitation mammal turning.
The embodiment of the present invention additionally provides a kind of hexapod robot, includes the turning control of above-mentioned hexapod robot
Any one of device processed device.
The embodiment of the present invention additionally provides a kind of storage medium, and program is preserved on storage medium, is held when program is run
Any one of the Servo Control method of row hexapod robot method.
The embodiment of the present invention additionally provides a kind of processor, and processor executes six for running program when program is run
Any one of the Servo Control method of sufficient animal robot method.
It should be noted that for each method embodiment above-mentioned, for simple description, therefore it is all expressed as a series of
Combination of actions, but those skilled in the art should understand that, the present invention is not limited by the described action sequence because
According to the present invention, certain steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know
It knows, embodiment described in this description belongs to preferred embodiment, and involved action and module are not necessarily of the invention
It is necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed device, it can be by another way
It realizes.For example, the apparatus embodiments described above are merely exemplary, for example, the unit division, it is only a kind of
Division of logic function, formula that in actual implementation, there may be another division manner, such as multiple units or component can combine or can
To be integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Coupling, direct-coupling or communication connection can be by some interfaces, the INDIRECT COUPLING or communication connection of device or unit,
Can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, you can be located at a place, or may be distributed over multiple
In network element.Some or all of unit therein can be selected according to the actual needs to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit physically exists alone, it can also be during two or more units be integrated in one unit.Above-mentioned integrated list
The form that hardware had both may be used in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can be stored in a computer read/write memory medium.Based on this understanding, technical scheme of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, mobile terminal, server or network equipment etc.) executes side described in each embodiment of the present invention
The all or part of step of method.And storage medium above-mentioned includes：USB flash disk, read-only memory (ROM, Read-Only Memory),
Random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various to be stored
The medium of program code.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (19)
1. a kind of Servo Control method of hexapod robot, which is characterized in that including：
The hip joint for controlling the robot lower abdominal carries out moving in rotation around the center of circle to be turned along preset movement locus；
The foot of front leg and back leg of the robot on the left of the center of circle moving in rotation lower abdominal to be turned is controlled,
The foot of the intermediate leg on the right side of lower abdominal is rotated simultaneously；
The foot of front leg and back leg of the robot on the right side of the center of circle moving in rotation lower abdominal to be turned is controlled,
The foot for rotating the intermediate leg on the left of lower abdominal simultaneously completes turning.
2. according to the method described in claim 1, it is characterized in that, controlling the hip joint of the robot lower abdominal around waiting turning
The curved center of circle carries out moving in rotation along preset movement locus：
Use rotation angle multinomial planning rotation angle track；
There is hip joint motion track according to described in the rotation angle trajectory calculation；
Keep the initial position of all feet constant, while will be at the beginning of the hip joint from hip joint according to the hip joint motion track
Beginning position is moved to target location, and the initial position of all feet is with the initial position of the hip joint in same vertical line
On, the perpendicular line is in ground.
3. according to the method described in claim 1, being rotated around the center of circle to be turned it is characterized in that, controlling the robot
The foot of front leg and back leg on the right side of mobile lower abdominal, while the foot for rotating the intermediate leg on the left of lower abdominal includes：
Use rotation angle multinomial planning rotation angle track；
According to the movement locus of the first foot to be moved of the rotation angle trajectory calculation, first foot to be moved includes under abdomen
The foot of the front leg on side right side, the foot and the intermediate leg on the left of lower abdominal of back leg；
Target location where keeping the first hip joint is constant, while will be described according to the movement locus of the described first foot to be moved
First foot to be moved is moved to from the initial position of the described first foot to be moved from first position, the first position and described the
The target location of one hip joint on same vertical line, the perpendicular line in ground, first hip joint with it is described
First foot to be moved is connected by leg.
4. according to the method described in claim 1, being rotated around the center of circle to be turned it is characterized in that, controlling the robot
The foot of front leg and back leg on the left of mobile lower abdominal, while the foot for rotating the intermediate leg on the right side of lower abdominal includes：
Use rotation angle multinomial planning rotation angle track；
According to the movement locus of the second foot to be moved of the rotation angle trajectory calculation, second foot to be moved includes under abdomen
The foot of the front leg in side left side, the foot and the intermediate leg on the right side of lower abdominal of back leg；
Keep target location where the second hip joint constant, while according to the movement locus of the described second foot to be moved from described the
Described second foot to be moved is moved to the second place, the second position and described second by the initial position of two feet to be moved
The target location of hip joint is on same vertical line, and the perpendicular line is in ground, second hip joint and described the
Two feet to be moved are connected by leg.
5. according to the method described in claim 2-4 any one, which is characterized in that plan rotation angle using rotation angle multinomial
Degree track includes：
Fitting of a polynomial is carried out to rotation angle, is fitted with specific reference to following equation：Theta (0)=0, theta (T1)=angle_
Step, dtheta (0)=0, dtheta (T1)=0；Theta (t) is rotation angle track, and T1 is when continuing in any single stage
Between, angle_step is rotation angle, and dtheta (t) is angular speed.
6. according to the method described in claim 1, it is characterized in that, controlling the hip joint of the robot lower abdominal around waiting turning
The curved center of circle carries out moving in rotation along preset movement locus：
The whole hip joints for controlling the robot lower abdominal are rotated around the center of circle to be turned along preset movement locus
It is mobile, alternatively, control the part hip joint of the robot lower abdominal around the center of circle to be turned along preset movement locus into
Row moving in rotation, wherein the part hip joint is the hip joint being connected with the leg where foot to be moved.
7. method according to claim 3 or 4, which is characterized in that wait moving according to the rotation angle trajectory calculation first
It moves or the movement locus of the second foot to be moved includes：
Every foot in first foot to be moved or the second foot to be moved is calculated according to formula z=HW*sin (theta) transporting
It is moved forward and backward track in dynamic space；Wherein, HW be every foot in the first foot to be moved or the second foot to be moved with it is to be turned
Distance between the center of circle, z are every foot in the first foot to be moved or the second foot to be moved in space in direction of advance
Displacement, theta are rotation angle；
Every foot in first foot to be moved or the second foot to be moved is calculated according to formula y=HW*cos (theta) transporting
It is displaced sideways track in dynamic space；Wherein, HW is every foot in the first foot to be moved or the second foot to be moved to be turned
The distance between center of circle, y are that every foot in the first foot to be moved or the second foot to be moved hangs down in space on horizontal plane
Directly in the lateral displacement of direction of advance, theta is rotation angle；
It is vertical in space that every foot in described first foot to be moved or the second foot to be moved is calculated using fitting of a polynomial
To motion track, with specific reference to x (0)=0, x (T2/2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)=0, dx (T2)=
0 is fitted, wherein dx is the movement speed of the first foot to be moved or every foot in the second foot to be moved, and H1 waits for for first
The height of every pin pitch from the ground in mobile foot or the second foot to be moved, x (t) is the first foot to be moved or the second foot to be moved
In every foot in space perpendicular to the length travel of horizontal plane, T2 is in the first foot to be moved or the second foot to be moved
Every foot movement time.
8. according to the method described in claim 2, it is characterized in that, being moved according to hip joint described in the rotation angle trajectory calculation
Dynamic rail mark includes：
The hip joint is calculated according to formula z '=HW*sin (theta), and track is moved forward and backward in space；Wherein, HW is
Any one foot in all feet is to the distance between the center of circle to be turned, and theta is rotation angle, and z ' is that the hip joint is being transported
The displacement of direction of advance in dynamic space；
The hip joint is calculated according to formula y '=HW*cos (theta), and track is displaced sideways in space；Wherein, HW is
Any one foot in all feet is to the distance between the center of circle to be turned, and theta is rotation angle, and y ' is that the hip joint is being transported
Lateral displacement in dynamic space on horizontal plane perpendicular to direction of advance；
The hip joint is calculated according to formula x ' (t)=H2, and track is vertically moved in space；Wherein, H2 closes for the hip
The height of pitch from the ground, x ' (t) is for the hip joint perpendicular to the length travel of horizontal plane in space.
9. a kind of Servo Control device of hexapod robot, which is characterized in that including：
First control unit, the hip joint for controlling the robot lower abdominal are moved around the center of circle to be turned along preset
Track carries out moving in rotation；
Second control unit, before controlling the robot on the left of the center of circle moving in rotation lower abdominal to be turned
The foot of side leg and back leg, while rotating the foot of the intermediate leg on the right side of lower abdominal；
Third control unit, before controlling the robot on the right side of the center of circle moving in rotation lower abdominal to be turned
The foot of side leg and back leg, while the foot for rotating the intermediate leg on the left of lower abdominal completes turning.
10. device according to claim 9, which is characterized in that first control unit includes：
First planning module, for using rotation angle multinomial planning rotation angle track；
First computing module, for having hip joint motion track according to described in the rotation angle trajectory calculation；
First control module, for keeping the initial position of all feet constant, while according to the hip joint motion track by institute
It states hip joint and is moved to target location from hip joint initial position, the initial positions of all feet is initial with the hip joint
Position is on same vertical line, and the perpendicular line is in ground.
11. device according to claim 9, which is characterized in that second control unit includes：
Second planning module, for using rotation angle multinomial planning rotation angle track；
Second computing module, for according to the movement locus of the first foot to be moved of the rotation angle trajectory calculation, described first
Foot to be moved include front leg on the right side of lower abdominal, back leg foot and the intermediate leg on the left of lower abdominal foot；
Second control module, it is constant while to be moved according to described first for the target location where keeping the first hip joint
Described first foot to be moved is moved to from the initial position of the described first foot to be moved from first position by the movement locus of foot, institute
First position is stated with the target location of first hip joint on same vertical line, the perpendicular line is in ground, institute
The first hip joint is stated to connect by leg with the described first foot to be moved.
12. device according to claim 9, which is characterized in that the third control unit includes：
Third planning module, for using rotation angle multinomial planning rotation angle track；
Third computing module, for according to the movement locus of the second foot to be moved of the rotation angle trajectory calculation, described second
Foot to be moved include front leg on the left of lower abdominal, back leg foot and the intermediate leg on the right side of lower abdominal foot；
Third control module, it is constant for target location where keeping the second hip joint, while according to the described second foot to be moved
Movement locus described second foot to be moved is moved to the second place from the initial position of the described second foot to be moved, it is described
On same vertical line, the perpendicular line is described in ground for the second position and the target location of second hip joint
Second hip joint is connect with the described second foot to be moved by leg.
13. according to the device described in claim 10-12 any one, which is characterized in that first planning module, the second rule
Draw module, third planning module includes：
First fitting submodule, for carrying out fitting of a polynomial according to following equation to rotation angle：Theta (0)=0, theta
(T1)=angle_step, dtheta (0)=0, dtheta (T1)=0；Theta (t) is rotation angle track, and T1 is any single
Phase duration, angle_step are rotation angle, and dtheta (t) is angular speed.
14. device according to claim 9, which is characterized in that first control unit includes：
Whole control module, for controlling whole hip joints of the robot lower abdominal around the center of circle to be turned along preset
Movement locus carries out moving in rotation, alternatively,
Part control module, for controlling the part hip joint of the robot lower abdominal around the center of circle to be turned along preset
Movement locus carries out moving in rotation, wherein the part hip joint is the hip joint being connected with the leg where foot to be moved.
15. device according to claim 11 or 12, which is characterized in that second control unit or third control
Unit includes：
First computational submodule, for waiting moving according to formula z=HW*sin (theta) calculating first foot to be moved or second
Every foot in dynamic foot is moved forward and backward track in space；Wherein, HW is in the first foot to be moved or the second foot to be moved
Every foot and the center of circle to be turned between distance, z is that every foot in the first foot to be moved or the second foot to be moved is moving
Displacement in space in direction of advance, theta are rotation angle；
Second computational submodule, for waiting moving according to formula y=HW*cos (theta) calculating first foot to be moved or second
Every foot in dynamic foot is displaced sideways track in space；Wherein, HW is in the first foot to be moved or the second foot to be moved
Every foot to the distance between the center of circle to be turned, y is that every foot in the first foot to be moved or the second foot to be moved is being transported
Lateral displacement in dynamic space on horizontal plane perpendicular to direction of advance, theta is rotation angle；
Second fitting submodule, is used for according to x (0)=0, x (T2/2)=H1, x (T2)=0, dx (0)=0, dx (T2/2)=0,
Dx (T2)=0 fitting of a polynomial calculates every foot in the described first foot to be moved or the second foot to be moved and is indulged in space
To motion track, wherein dx is the movement speed of the first foot to be moved or every foot in the second foot to be moved, and H1 waits for for first
The height of every pin pitch from the ground in mobile foot or the second foot to be moved, x (t) is the first foot to be moved or the second foot to be moved
In every foot in space perpendicular to the length travel of horizontal plane, T2 is in the first foot to be moved or the second foot to be moved
Every foot movement time.
16. device according to claim 10, which is characterized in that first computing module includes：
Third computational submodule, before calculating the hip joint in space according to formula z '=HW*sin (theta)
Motion track afterwards；Wherein, HW is any one foot in all feet to the distance between the center of circle to be turned, and theta is rotation
Angle, z ' are the displacement of hip joint direction of advance in space；
4th computational submodule, for calculating hip joint side in space according to formula y '=HW*cos (theta)
To motion track；Wherein, HW is any one foot in all feet to the distance between the center of circle to be turned, and theta is rotation
Angle, y ' are lateral displacement of the hip joint in space on horizontal plane perpendicular to direction of advance；
Third is fitted submodule, and rail is vertically moved in space for calculating the hip joint according to formula x ' (t)=H2
Mark；Wherein, H2 is height of the hip joint apart from ground, and x ' (t) is for the hip joint perpendicular to level in space
The length travel in face.
17. a kind of hexapod robot, which is characterized in that including the turning control described in any one of claim 9 to 16
Device processed.
18. a kind of storage medium, which is characterized in that preserve program on the storage medium, executed when described program is run
Method described in any item of the claim 1 to 8.
19. a kind of processor, which is characterized in that the processor is for running program, perform claim when described program is run
It is required that the method described in any one of 1 to 8.
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