关键词: 仿生机理, 基于行为控制系统, 运动控制, 运动学

Abstract: The bionic mechanism, behaviour based control system, leg module design, kinematics and locomotion control of a cockroach robot are analyzed in depth. The cockroach nervous-muscular system is the material foundation for the realization of body movement and orientation. Through engineering simulation, how the behaviour-based approach can be used for control and gait generation of a cockroach robot is investigated. A new leg module with calculation function is proposed in order to reduce the massive calculation process, thus ensuring the flexibility of the cockroach robot. Based on cockroach robot kinematics analysis, screw theory, and local product-of-exponentials formula, the inverse kinematics method is proposed, which uses Paden-Kahan sub-problems to directly obtain the displacement of joint angles. The forward kinematics derives the relationship between joint angles according to the natural restricts. Then the orientation of the robot is deduced by using local product-of-exponentials formula. The distributed synchronized control and position velocity and time movement pattern are used to ensure the trace tracking accuracy of the robot’s leg joint, as well as the smoothness of velocity. The validity of the bionic mechanism is verified by simulation and experiment, which lays the foundation for further research.

Key words: Behaviour-based control system, Bionic mechanism, Kinematics, Locomotion control