【正文】 gaits for turning. Turning To realize turning motion, there are two cases. For small angle turning, turning can be realized during walking, the robot does not need to stop. The turning angle must be less than 30 degrees to avoid walking legs colliding with supporting legs. See in . For large angle turning, three steps are needed. There are always four legs standing on the ground to support the body, and the other two legs rise to adjust direction. Fig. 9 and Fig. 10 listed the steps of 60 degrees and 90 degrees turning cases. Quadrangles in the above figures are areas of support。 the white circle is the robots’ mass centre. It can safely turn through 90 degrees using four steps (Fig. 10). Simulation When the robot walks in a straight line, the body should be kept horizontal. Three drivers are needed. The kinematics can be simply denoted by geometric equations. The relationship between joint angles are shown in the following equations: Therefore, the result can be obtained as follows:Figure 11 shows the simulation of the robot walking traight using ADAMS with crab gait.The trajectories of joints are shown in The simulation results for the displacement of the mass centre using MATLAB amp。 ADAMS are shown in . 16. Gaits with sick legs Fault Tolerant Lootion Because of the plex lunar environment, the robot’s legs may be damaged during working. If one or two legs are broken, it still can run with wheels and walk with the other four or five legs with two kinds of gait. Even if three legs are broken, the robot can still walk with a suitable gait [8]. However, if two interphase legs are out of action, the crab gait is impossible. It is still possible for supporting and running, but if three adjoining legs are broken (see Fig. 17) walking is almost impossible. Figure 18 shows how the robot can run with two legs out of action. Gaits with wheels Because wheels can provide higher speed lootion than legs, our robot will run with wheels in the case of a smooth surface on the Moon. All wheels will be grouped into two branches, one on the left, the other on the right. The robot runs like a car. It can realize turning through changing the velocity difference between these two groups of wheels, which had been studied intensively. The ideal velocity for forward motion[9] is, v(t)=(vl(t)+vr(t))/2 (3) vl (t):velocity of left group。 vr (t):velocity of right group. The radius of turning is, p=D*( vl (t)+ vr (t))/(2*( vl (t) vr (t))) (4) Dthe distance between group one and group two. The angular velocity of turning is: w(t)=(v1(t) vl (t))/D (5) If |vl (t)|=|vr(t)|, then w(t)=0, robot runs straightly。 If | vl (t)||vr (t)|, then robot turns right。 If | vl (t)||vr (t)|, then robot turns left。 If vl (t)= vr (t), then w(t)0 and v(t)=0, robot turns without displacement. According to experience, Fuzzy Logic is most suitable for controlling the wheel velocities. V. Prototype test Based on system design and simulation, one prototype was build (see ). The prototype has 24 motors (Servos Hitec HS475HB) and a main board (Servopod). The Servopod has the ability to control more than 26VI. Conclusion and Future work Robots with wheel type lootion can have high velocity on smooth surfaces, but cannot run on rough terrain. Robots with leg type lootion are more agile, but usually only walk with low speed. Therefore, the robot with a hybrid lootion using both legs and wheels will be a good choice for a lunar rover. From the above analysis, the hexagonal structure for a hexapod is more agile than the rectangular one. Because the crab/kickup gait is like a human’s gait, it is simpler to control and easier to implement. The wave gait is more plicated,. However, when one or two legs are damaged, the crab gait is very hard to use while the wave gait is still available. Therefore, the lootion of the crab gait coupled with the wave gait is more suitable for a lunar rover. This papaer mainly focus on a parative study of rectangular hexapod robot and hexagonal hexapod robot, and the analysis of the wave gait and crab gait was investigated. There are still many other gaits for this kind of lunar robot, such as climbing slope, overtaking gouge, and detailed gaits when one or two legs are broken. As for fault tolerant gaits, only runing with wheels is studied here, more work will be done on fault tolerant legwalking gaits in the future. II. Acknowledgment Thanks to the China NSFC (Grant no. 50475001), HITECH RESEARCH AND DEVELOPMENT PROGRAM OF CHINA (863 PROGRAM: Grant no. 2006AA04Z207) AND the Samp。T cooperation program (20062009) of the governments of China and Italia for financial support, and also thanks to Professor Alberto Rovetta and his research group on the Italian side for joint research work. 為了月球探險(xiǎn)的小型機(jī)器人的結(jié)構(gòu)設(shè)計(jì)和運(yùn)動(dòng)分析摘要為了月球探險(xiǎn)而被調(diào)查的六邊形和矩形的兩種昆蟲機(jī)器人，分析這兩種昆蟲類型運(yùn)動(dòng)的典型步法。一項(xiàng)比較的研究,立基于在敏捷, 安定和多余, 總結(jié)出六邊形機(jī)器人在建筑學(xué)上比矩形的好。 最后, 模擬出做基于一新奇的六角形的月球探險(xiǎn)機(jī)器人探險(xiǎn)機(jī)器人。關(guān)鍵詞：最完美的設(shè)計(jì)；精確性；平行的機(jī)械手在最近的幾年行星的漂泊者已經(jīng)變得一個(gè)流行的話題。一些類型機(jī)器人系統(tǒng)為行星的探險(xiǎn)已經(jīng)被計(jì)劃 [1],有輪子的類型, 腿的類型和混雜型輪子/腿類型。有輪的類型機(jī)器人包括 Gyrover[1] 的單一輪子, 四輪的RATLER[2] 和其他的輪子。最出名的MARS ROVERS、OPPORTUNITY和SPIRIT有六個(gè)輪子 [3] 。腿的類型包括漫步者、但丁和但丁 2 世?？▋?nèi)基美隆大學(xué), 和許多其他。但丁和但丁 2 世有八只腿 [4] 。追溯 從 JPL和來自日本的 Tohoku 大學(xué)的二輪戰(zhàn)車 2號 是一腿/輪子機(jī)械手。VNIITRANSMASH 中的軌道 1, 來自美國 和 ANDROS Mark VA和來自ACEC的ACEC 機(jī)器人都是履帶機(jī)器人。其他的類型，像是單足跳者機(jī)器人能向前地跳躍。然而, 直到現(xiàn)在, 已經(jīng)成功地在行星上登陸的機(jī)器人是全部旋轉(zhuǎn)的類型。月球的環(huán)境是非常不同于在地球的。它離地球很遠(yuǎn)，幾乎沒有空氣, 那在月球之上的地心引力是 在地球上的1/6，而且在月球上有一層很厚的灰塵。強(qiáng)力的摩擦阻止輪子順滑的運(yùn)行。輪子也容易陷在灰塵中。腿式型機(jī)器人比輪式型更敏捷輪子類型的機(jī)械手。 然而, 它運(yùn)動(dòng)速度比較慢速度。腿輪一體化的能整合兩種運(yùn)動(dòng)類型的優(yōu)勢。因此, 腿/輪子類型的漂泊者已經(jīng)變成我們月球探險(xiǎn)的首選。借由二個(gè)腳的人類是最敏捷的動(dòng)物, 但是需要一個(gè)非常復(fù)雜的控制器:大腦。月球探險(xiǎn)者因?yàn)閷W(xué)術(shù)和技術(shù)限制還不能夠發(fā)明類似于人類大腦。其他的哺乳動(dòng)物有四個(gè)腳而且也是每一敏捷的。這樣看來一四腳的——漂泊者是一好選擇。然而，月球并非地球, 到月球花費(fèi)很大, 我們不能夠負(fù)擔(dān)維護(hù)如果一或二個(gè)腳損壞。另一方面，幾乎所有的昆蟲有六個(gè)腳。根據(jù)生體工學(xué), 六腳的/昆蟲機(jī)器人可能是較好的選擇。以下是昆蟲漂泊者的一些優(yōu)勢。（A） 昆蟲機(jī)器人容易保持