Hexapod robot motion control algorithm

The invention provides a hexapod robot motion control algorithm which is mainly used for solving the problem that, in the supporting state advancing process of legs on the two sides of a robot body, the walking tracks of the legs relative to joints are arc-shaped, so that mutual exclusion force is generated, and the joints of the robot body are damaged. The method comprises the five steps of establishing a robot coordinate system, establishing a robot body coordinate system, establishing a single walking leg coordinate system, performing forward and reverse kinematics solution and performing amotion control method. Viewed from each leg and joint, the algorithm enables the foot end track of a robot in the supporting state walking process to be a straight line, as shown in Figure 1, and thetracks of the two side legs of the robot body are parallel to each other, so that the problem of mutual exclusion force is well solved; in addition, according to the algorithm, foot ends make vertical contact with the ground