Structure and Gait Design of a Lunar Exploration Hexapod Robot Based on Central Pattern Generator Model
Bin-Ming Shu,
Ying-Qing Guo,
Wen-Hao Luo
et al.
Abstract:To address the challenges of sinking, imbalance, and complex control systems faced by hexapod robots walking on lunar soil, this study develops an umbrella-shaped foot lunar exploration hexapod robot. The overall structure of the robot is designed to mimic the body structure of insects. By incorporating a four-bar linkage mechanism to replace the commonly used naked joints in traditional hexapod robots, the robot reduces the number of degrees of freedom and simplifies control complexity. Additionally, an exten… Show more
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