由于其稳定性好的优点,适应性,和灵活性,多足机器人在救援等领域越来越重要,军事,和医疗保健。这项研究的重点是千足虫,一个多分段的有机体,在深入研究千足虫生物学特性和运动机制的基础上,设计了一种新型的多段仿生机器人。千足虫运动的关键腿部关节是目标,建立了仿生机器人腿部关节结构的数学模型进行运动学分析。此外,研究了多关节仿生千足虫机器人的中央模式发生器(CPG)控制策略。受到千足虫神经系统的启发,构建了简化的单回路CPG网络模型,将振荡器的数量从48个减少到16个。使用原型进行实验试验,以测试以波浪状步态行走,一条腿被切除走路,在复杂的地形上行走。结果表明,在CPG波形输入条件下,机器人可以稳定行走,腿部故障对整体运动的影响是可以接受的,在复杂地形上行走时观察到最小的速度损失。多关节仿生机器人的结构和运动控制算法的研究奠定了技术基础,扩大其在探索未知环境中的潜在应用,救援任务,农业,和其他领域。
Due to their advantages of good stability, adaptability, and flexibility, multi-legged robots are increasingly important in fields such as rescue, military, and healthcare. This study focuses on the millipede, a multi-segmented organism, and designs a novel multi-segment biomimetic robot based on an in-depth investigation of the millipede\'s biological characteristics and locomotion mechanisms. Key leg joints of millipede locomotion are targeted, and a mathematical model of the biomimetic robot\'s leg joint structure is established for kinematic analysis. Furthermore, a central pattern generator (
CPG) control strategy is studied for multi-jointed biomimetic millipede robots. Inspired by the millipede\'s neural system, a simplified single-loop
CPG network model is constructed, reducing the number of oscillators from 48 to 16. Experimental trials are conducted using a prototype to test walking in a wave-like gait, walking with a leg removed, and walking on complex terrain. The results demonstrate that under
CPG waveform input conditions, the robot can walk stably, and the impact of a leg failure on overall locomotion is acceptable, with minimal speed loss observed when walking on complex terrain. The research on the structure and motion control algorithms of multi-jointed biomimetic robots lays a technical foundation, expanding their potential applications in exploring unknown environments, rescue missions, agriculture, and other fields.