Analysis of tripod gait and research on controlling technology of hexapod robot

This paper analyzes the walking strategy of tripod gait and describes the leg trajectory planning of swing phase and stance phase of hexapod robot based on the robot model and the bionics principle. To improve the performance of robot, the hardware system is built based on PC and UMAC motion controller, the software of upper computer is designed according to Visual C + + 6.0 and the coordinated operation of motors is achieved by using the programming software Pewin32 Pro2. Finally, the robot walking experiment is carried out and the result shows that the robot has good motion characteristics and anti-interference characteristics.