双足竞步机器人的设计与实现.docx: .
双足竞步机器人的设计与实现
王冰,朱旭光,贺智宇,刘子龙,崔哲源
(辽宁工程技术大学电子与信息工程学院,辽宁葫芦岛125105)
摘要:本文介绍了一个六个自由度的小型双足机器人的设计、调试与实现。包括机械结构设 计、电路设计与制作,机器人步态规划算法研究,利用AtmegaS芯片实现了对六个舵机的 分时控制,编写VC上位机软件,通过串口通信对双足竞步机器人进行调试,通过人体仿生 学调试出机器人的步态规划。实现了双足竞步机器人稳定向前行走、立正、向前翻跟头、向 后翻跟头。并在2011中国机器人大赛暨robocup公开赛荣获双足竞步机器人大学组(狭窄 足印)项目比赛二等奖。
关键词:机器人,串口通信,步态规划
中图分类号:TP24
Biped Walking Robot Design and Implementation
Wang Bing, Zhu Xuguang, He Zhiyu, Liu Zilong, Cui Zheyuan
(Liaoning Technical University ,School of Electronic and Information Engineering, Huludao,
Liaoning 125105)
Abstract: IThis article describes a six degree of freedom for small biped robot design, debugging and implementation. Including mechanical design, circuit design and production, robot gait planning algorithm, using Atmega8 chip time-sharing of six servo control, the preparation of VC PC software, serial communications through the steps of the bipedal robot competition debugging, debugging a robot by human bionics gait planning. Biped Walking Robot to achieve a steady walk, stand at attention, forward somersaults, backward somersaults. And in 2011 China Robot Competition and robocup legged Walking Robot Open University won the group (the narrow footprint) Project Competition Award.
Key words: Robot; Serial communication; Gait planning
0引言
机器人是近年来发展起来的综合学科,它集机械、电子、计算机、材料、传感器、控制
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