基于Atmega128的六足机器人设计及其步态分析
|
摘要
在基于仿生学的基础上,设计了一款六足机器人。以Atmega128型单片机为控制核心,通过调节18路输出PWM波的占空比,实现对18个舵机的转角控制,进而使得机器人完成相应的动作。机器人全身有18个自由度,具备强大的越障能力和机体灵活性。实验结果表明,该机器人能够接收指令切换多种步态,在多种地面状况下稳定运行。
A hexapod robot is designed based on the bionics.The realization of the control of 18 steering engines' angle allow the robot complete corresponding action by using Atmega128 MCU as the control core as well as the regulation of 18 PWM waves' duty ratio.The robot body has 18 degrees of freedom, owning strong ability of obstacle surmounting and body flexibility. The experimental results show that the robot can receive the command to change multiple gaits and operate steadily in various ground conditions.
A hexapod robot is designed based on the bionics.The realization of the control of 18 steering engines' angle allow the robot complete corresponding action by using Atmega128 MCU as the control core as well as the regulation of 18 PWM waves' duty ratio.The robot body has 18 degrees of freedom, owning strong ability of obstacle surmounting and body flexibility. The experimental results show that the robot can receive the command to change multiple gaits and operate steadily in various ground conditions.
引文
[1]蒋德军,宁立伟.仿六足机器人的机构设计与研究[J].机械传动,2009,33(2):42-43.
[2]王鹏,李鑫,江文浩.地震搜救机器人构型设计综述[J].哈尔滨理工大学学报,2012,17(1):15-19.
[3]罗孝龙,罗庆生,韩宝玲,赵小川.仿生六足机器人多电机控制系统的研究与设计[J].计算机测量与控制,2008,16(4):491-493.
[4]金波,胡厦,俞亚新.新型六足爬行机器人设计[J].机电工程,2007,24(6):23-25,36.
[2]王鹏,李鑫,江文浩.地震搜救机器人构型设计综述[J].哈尔滨理工大学学报,2012,17(1):15-19.
[3]罗孝龙,罗庆生,韩宝玲,赵小川.仿生六足机器人多电机控制系统的研究与设计[J].计算机测量与控制,2008,16(4):491-493.
[4]金波,胡厦,俞亚新.新型六足爬行机器人设计[J].机电工程,2007,24(6):23-25,36.
版权所有：© 2023 中国地质图书馆 中国地质调查局地学文献中心