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Mathematical Problems in Engineering
Volume 2017, Article ID 6841972, 16 pages
Research Article

Kinematics, Dynamics, and Optimal Control of Pneumatic Hexapod Robot

1School of Mechanical Electronic & Information Engineering, China University of Mining and Technology (Beijing), Beijing 100083, China
2Mechanical & Electrical Engineering School, Beijing Information Science & Technology University, Beijing 100192, China

Correspondence should be addressed to Long Bai; moc.621@nj6130gnoliab

Received 8 August 2016; Revised 16 January 2017; Accepted 12 February 2017; Published 9 March 2017

Academic Editor: Francisco Valero

Copyright © 2017 Long Bai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Pneumatic hexapod robot is driven by inert gas carried by itself, which has board application prospect in rescue operation of disaster conditions containing flammable gas. Cruising ability is main constraint for practical engineering application which is influenced by kinematics and dynamics character. The matrix operators and pseudospectral method are used to solve dynamics modeling and numerical calculation problem of robot under straight line walking. Kinematics model is numerically solved and relationship of body, joints, and drive cylinders is obtained. With dynamics model and kinematics boundary conditions, the optimal input gas pressure of leg swing and body moving in one step is obtained by pseudospectral method. According to action character of magnetic valve, calculation results of control inputs satisfy engineering design requirements, and cruising ability under finite gas is obtained.