Kinematic Analysis and Simulation of Walking Leg of Bionic Amphibious Crab-Like Robot

Abstract

Bionic crab-like robots are designed to be amphibious: capable of movement on land and in water. This robot features the advantages of high mobility, stability and adaptability to complex terrain, and is highly useful for the purposes of surveying and developing marine resources. This paper establishes and analyzes the movement process of the robot's walking leg of the swing phase and the support phase. The motion process of the joints angles of the support phase is different from that of the swing phase. Therefore, detailed inverse kinematics analysis of the walking leg of the support phase is carried out by geometric methods, and the complete kinematic expressions of the two phases of the walking foot are obtained. After correcting the derivation of the positive and inverse solutions of the walking leg in two phases and verifying them in MATLAB, the toe point trajectory equation can be planned for the walking leg's forward movement state, and the planned toe point trajectory curve is simulated in MATLAB. The kinematics analysis of the walking leg and the planning equation of the toe point trajectory curve were also applied to actually controlling the prototype bionic amphibious crab-like robot, and the robot was effectively controlled during the experiment.