关键词：光机电；机器人；可拓学；实时控制
摘 要：This paper presents a robot real time control method and system in order to restore the hexapod robot equilibrium position.Traditional methods for this problem generally define a line between the area where the robot is in stable equilibrium and the area where the robot loses its equilibrium.As opposed to traditional methods, in this research, extension set is applied to the definition of an adaptive zone-extension set which is calculated by dependent function and from which the equilibrium position of the hexapod robot can be restored.