Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints
The cubic polynomial interpolation with midpoints is applied to the path planning of robot leg in the complex tunnel environment. A new spider biomimetic robot with 18 joints and 6 legs is designed,which can be flexible movement in tunnel space. The kinematics model of the robot leg is built with D-...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.001 |
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| _version_ | 1841547679566397440 |
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| author | Luo Tianhong Ma Li |
| author_facet | Luo Tianhong Ma Li |
| author_sort | Luo Tianhong |
| collection | DOAJ |
| description | The cubic polynomial interpolation with midpoints is applied to the path planning of robot leg in the complex tunnel environment. A new spider biomimetic robot with 18 joints and 6 legs is designed,which can be flexible movement in tunnel space. The kinematics model of the robot leg is built with D-H modeling method,and the inverse kinematics equation is deduced. Based on Monte-Carlo method,the working space of the foot end is analyzed,and based on the cubic polynomial interpolation algorithm with midpoints for path planning of obstacle avoidance is simulated. Simulation results show that the application of the cubic polynomial interpolation method with midpoints in path planning on spider biomimetic robot leg could guarantee the smoothness of foot movements,avoid the impact caused by mutations of moment,and meet the requirements of obstacle avoidance. |
| format | Article |
| id | doaj-art-aff1c757019b412c8195009e347daefc |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-aff1c757019b412c8195009e347daefc2025-01-10T14:22:08ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-01411629931188Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with MidpointsLuo TianhongMa LiThe cubic polynomial interpolation with midpoints is applied to the path planning of robot leg in the complex tunnel environment. A new spider biomimetic robot with 18 joints and 6 legs is designed,which can be flexible movement in tunnel space. The kinematics model of the robot leg is built with D-H modeling method,and the inverse kinematics equation is deduced. Based on Monte-Carlo method,the working space of the foot end is analyzed,and based on the cubic polynomial interpolation algorithm with midpoints for path planning of obstacle avoidance is simulated. Simulation results show that the application of the cubic polynomial interpolation method with midpoints in path planning on spider biomimetic robot leg could guarantee the smoothness of foot movements,avoid the impact caused by mutations of moment,and meet the requirements of obstacle avoidance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.001Spider biomimetic hexapod robotD-H modelingCubic polynomial interpolation with midpointsPath planning |
| spellingShingle | Luo Tianhong Ma Li Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints Jixie chuandong Spider biomimetic hexapod robot D-H modeling Cubic polynomial interpolation with midpoints Path planning |
| title | Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints |
| title_full | Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints |
| title_fullStr | Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints |
| title_full_unstemmed | Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints |
| title_short | Path Planning for Spider Biomimetic Robot Leg based on Cubic Polynomial Interpolation Function with Midpoints |
| title_sort | path planning for spider biomimetic robot leg based on cubic polynomial interpolation function with midpoints |
| topic | Spider biomimetic hexapod robot D-H modeling Cubic polynomial interpolation with midpoints Path planning |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.07.001 |
| work_keys_str_mv | AT luotianhong pathplanningforspiderbiomimeticrobotlegbasedoncubicpolynomialinterpolationfunctionwithmidpoints AT mali pathplanningforspiderbiomimeticrobotlegbasedoncubicpolynomialinterpolationfunctionwithmidpoints |