Scholarlink

<p>To address the challenges of high complexity in traditional robotic model construction and the limitations in motion stability verification methods, an intelligent hexapod robot design based on the ROS system is proposed. The URDF model of the hexapod robot is developed within the ROS framework, and for the first time, the Euler angle verification method is employed to evaluate performance in Gazebo. Dynamic simulations analyze joint angle variations and linear trajectory stability during horizontal motion. Furthermore, the robot successfully executes SLAM map construction, path planning, and autonomous navigation tasks in complex terrains. Experimental results show that the motion trajectory deviation remains below 2%, travel distance is reduced by 52.5%, and runtime decreases by 88.4%. The consistency between test and simulation results highlights the reliability of the system. These findings demonstrate the system’s exceptional performance in linear motion stability and trajectory consistency, offering critical technical support and practical guidance for deploying hexapod robots in industrial inspections and disaster rescue scenarios.</p>

错误：搜索内容不能为空，请输入英文关键词
错误：关键词超出字数限制，请精简
高级检索

Research on the design and application of bionic hexapod robot system

  • 期刊论文

  • 发表日期：

    2025年6月9日

查看全文
  • Ruquan Liang,
  • Xiaoyang Li,
  • Jianhui Shi,
  • Yuanmei Song,
  • Zhuo Zhang,
  • Dengbo Zhang

摘要

To address the challenges of high complexity in traditional robotic model construction and the limitations in motion stability verification methods, an intelligent hexapod robot design based on the ROS system is proposed. The URDF model of the hexapod robot is developed within the ROS framework, and for the first time, the Euler angle verification method is employed to evaluate performance in Gazebo. Dynamic simulations analyze joint angle variations and linear trajectory stability during horizontal motion. Furthermore, the robot successfully executes SLAM map construction, path planning, and autonomous navigation tasks in complex terrains. Experimental results show that the motion trajectory deviation remains below 2%, travel distance is reduced by 52.5%, and runtime decreases by 88.4%. The consistency between test and simulation results highlights the reliability of the system. These findings demonstrate the system’s exceptional performance in linear motion stability and trajectory consistency, offering critical technical support and practical guidance for deploying hexapod robots in industrial inspections and disaster rescue scenarios.