Hexagonal hexapod robot foot-modeled dynamics simulation analysis

Abstract

In this paper, to solve the problems of hexapod robot's foot frequent collisions with hard ground impact and other issues, we establish the foot-modeled and its parameters identification in the geological environment, and compile Fortran language which is based on the footmodeled with the secondary development program by the ADAMS dynamic link and the overall hexagonal hexapod robot dynamics simulates in co-simulation of MATLAB and ADAMS. Through the analysis of the simulation results, the correctness and universality of the foot-modeled and the geological environment is verified.