基于AVR的双足步行机器人舵机控制  

Control of the Biped Walking Robot Servos Based on AVR

作　　者：李岩[1] 孔凡让[1] 万小丹[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,安徽合肥230027

出　　处：《机械与电子》2007年第12期70-72,共3页Machinery & Electronics

摘　　要：在AVR系列单片机基础上,提出一种并行积分式多路PWM波产生算法,具有较高的控制精度,可控制大量舵机,并以此设计出双足步行机器人行走步伐程序,实验证明舵机运行稳定,追随性能好,速度调节方便;机器人行走稳定,步伐频率高、步幅大,程序具有很强的通用性.On the basis of AVR microcontroller,this paper proposes a parallel and integral method to generate multiplex PWM waveforms, which is of great accuracy and able to control large number of servos. Moreover,a step program for the biped walking robot is designed. The servos are proved to be stable in operation,good in follow and convenient for timing. The robot walks steadily with frequent stride, whose program is widely applicable.

关 键 词：AVR 舵机 双足步行机器人 PWM 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]