Acquisition of the horse movement trajectory and its reproduction in the 6-DOF parellel robot horse

The robot horse sports is a modern fitness development direction. By analyzing the 6-DOF parallel robot horse platform mechanical structure and motion characteristics, its model of spatial movement was established. ADIS16355 was used as the sensor to collect acceleration data and angular velocity data, which was stored in SD card by the serial interface of AVR microcontroller. Matlab was used to read the data and establish the mathematical formula of spatial movement to obtain the displacement data and angle data, consequently the periodic motion data of horse was extracted. The data was made into a loop and transplanted into robot horse to reproduce the movement trajectory of the real horse.