Abstract: The special structural design of hexapod robots has sparked interest in biomimetic robotics research,particularly due to their remarkable obstacle-crossing capabilities. However,the ore accumulation and rugged characteristics of the metal mine underground stope poses significant challenges to the walking stability and obstacle avoidance of this kind of robot. Therefore,in order to make the hexapod robot have better passability in the mine,its motion ability and gait planning are studied. Firstly,the structure of hexapod robot is designed according to the nature hexapod,and the kinematics of its legs is analyzed. Then,the straight gait for stope is planned,and a line-cycloid composite trajectory is designed to improve the obstacle crossing ability according to the stope road environment. At the same time,the stability of robot climbing is analyzed,and the climbing gait is optimized. Finally,the simulation and field simulation tests of the planning gait were carried out. The simulation and test results show that the planned foot trajectory can cross the obstacles with 85% of the leg height,and has better obstacle avoidance ability for the stope road formed by ore accumulation. Triangular gait is easy to slip in the transition stage between the bottom and the top of the slope,while lateral gait can achieve a smooth transition and better climbing performance.

Key words: legged robot,hexapod robot,gait planning,mining robot,foot end trajectory