To realize the omnidirectional motion, the transition motion of hexapod robot from flat to slope is studied, and a new type of stability criterion is proposed. Firstly, the landing point problem of the hexapod robot in the process of transition is studied, the relationship between the introduced angle in ankle of the supporting leg and the body pitch is acquired, and the transition gait based on central pattern generator bottom feedback is planned. Secondly, the slope motion is analyzed, the relationship between the angle variable of the supporting knee joint and the pitch angle of hexapod is obtained, and the slope gait is planned based on central pattern generator middle level feedback. According to vector product, the solution of working out the stability margin of hexapod robot’s motion is designed. Lastly, MATLAB/ADAMAS co-simulation platform and physical hardware are constructed, the simulation and experiment of transition motion of hexapod robot from flat to 12° slope and motion of climbing 16° slope are done. According to the analysis of the results, in the transition motion from flat to 12° slope, based on the transition gait, hexapod robot can keep three foots touch the ground, and the foot force is uniform. According to the means designed to work out a stability margin based on vector product, the stability margin constant is greater than zero. In the motion of climbing 16° slope, based on the slope gait, hexapod robot completes the motion of climbing 16° slope. Based on transition gait, hexapod robot implements the transition movement from flat to slope stably. Based on slope gait, hexapod robot improves the ability of slope motion.

中文翻译：

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基于CPG反馈的六足机器人步态规划

为实现全向运动，研究了六足机器人从平地到斜坡的过渡运动，提出了一种新型的稳定性判据。首先研究了六足机器人在过渡过程中的着陆点问题，获得了支撑腿脚踝的引入角度与身体俯仰的关系，并规划了基于中央模式发生器底部反馈的过渡步态。 . 其次，分析斜坡运动，得到支撑膝关节角度变量与六足俯仰角的关系，并基于中央模式发生器中层反馈规划斜坡步态。根据矢量积，设计了求解六足机器人运动稳定裕度的求解方法。最后，搭建了MATLAB/ADAMAS联合仿真平台和物理硬件，完成了六足机器人从平面到12°斜坡的过渡运动和爬升16°斜坡运动的仿真和实验。根据结果​​分析，在从平坦到12°坡度的过渡运动中，基于过渡步态，六足机器人可以保持三足着地，足部受力均匀。根据设计用于基于矢量积计算稳定裕度的方法，稳定裕度常数大于零。在爬16°斜坡的动作中，六足机器人根据斜坡步态完成爬16°斜坡的动作。六足机器人基于过渡步态，实现了从平地到斜坡的平稳过渡运动。六足机器人基于斜坡步态，提高斜坡运动能力。