A handling robot that mimics ant crawling in biomimicry
Abstract
In order to improve the robot’s motion stability and handling ability in complex terrain, a bionic handling robot imitating the crawling of ants is designed. The study is based on the ant’s locomotion mechanism, and by analyzing its gait and handling behavior, an optimized design of the hexapod robot’s mechanical structure and drive system is proposed. The control system adopts a layered architecture and integrates multi-sensor data fusion technology to achieve gait planning, balance control, and path planning functions. The prototype test shows that the robot can maintain stable operation in different terrain environments, with a gait error of less than 5%, and complete the handling task under a load of 800 g, with good terrain adaptability and load capacity. The performance evaluation shows that the energy consumption is well balanced with the task efficiency, and the design scheme is highly reliable in motion control and practical applications. The study provides a new technical path for intelligent handling tasks in complex environments and lays the foundation for subsequent optimization work.
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