Spline-interpolation based PVT algorithm and application in a bionic cockroach robot

To solve the problem that the final velocity curve will be unsmoothed if the PVT(Position Velocity Time) nodes velocities are determined improperly when using PVT control algorithm, based on analyzing the general principle of spline interpolation and PVT motion control, this paper presents a triple spline interpolation based PVT algorithm, which ensures the smoothness of the velocity curve. The velocity of each node is firstly calculated via spline interpolation method, and then the final trace control curve is achieved by using PVT method to these points. The proposed algorithm is applied to the kinematics control of a cockroach robot. The structure and forward/inverse kinematics model of the cockroach robot is expounded. Finally, the reliability of the proposed algorithm is verified by the contrast simulation and experiment of a single leg of the cockroach robot with one of the existing algorithms. The results show that the proposed approach can be readily used for motion controls.