The Topologies Characteristics and Behaviors Design of the Curling Hexapod Robot.

This paper introduces a new curling robot, the curling hexapod robot. It is the first robot to imitate human curling stone throwing behavior in the world. Under the special design, the curling hexapod robot can switch among different topologies characteristics such as hexapod topology, quadruped topology and biped topology. Aiming at the humanoid curling stone delivering behavior, the task chain and behavior chains of the curling hexapod robot curling stone throwing are designed by using task decomposition method and behavior decomposition method. The experimental result show that the curling hexapod robot has the ability of topologies switching and humanoid curling stone throwing function. The success of the curling hexapod robot expands the application field of legged robot and promotes the further development of legged robot application.