Dynamic running hexapod robot based on high-performance computing

Xiaokun Leng, Songhao Piao, Lin Chang, Zhicheng He, Zheng Zhu

Abstract: Advanced high-performance computing (HPC) plays an important role in solving complex and large problems in robot simulation, parameter identification, and control. This article introduces a flexible hexapod robot with arc-shaped legs that has the ability to move fast and agilely based on HPC. Its mechanical structure design follows the principle of miniaturization and lightweight. While the robot uses drive devices with high power density, power supply, and drive, systems with high performance are designed for it to meet the requirements of high bursting capabilities and rapid movement capabilities. Meanwhile, this article proposes a gait generation and control method for the hexapod robot based on max-plus algebra. This method regards the movement of touching and leaving the ground during robot’s walking as discrete events and uses a set of max-plus algebraic linear equations to describe the sequence of each discrete event in different locomotion gaits. By using this method, control laws for various gaits can be generated easily, switch of different gaits in real time can be achieved by switching the control matrix of these gaits, while the stability of the switching process and the synchronism of the locomotion of each leg before and after switching are also ensured. The virtual prototype simulation and physical prototype experiments were exerted to verify the effectiveness of the structure design and control method. Moreover, the simulation analysis and prototype experiment of Trotting diagonal gait and Pronking jumping gait were carried out in which the Pronking gait had a maximum traveling speed of 1.2 m/s.