六足仿生机器人步态研究和运动控制器设计  

Gaits Study and Movement Controller Design for Hexapod Bionic Robot

作　　者：储忠[1] 阮坚实[1] 虞刚明[1] 

机构地区：[1]合肥学院电子信息与电气工程系,安徽合肥230601

出　　处：《机床与液压》2008年第B07期369-372,397,共5页Machine Tool & Hydraulics

基　　金：安徽省教育厅自然科学基金项目(2006KJ089B)

摘　　要：分析了六足仿生机器人典型行走步态和不同步态下的机器人落足点位置矢量表达式;运用AT89S52内部两个定时器,采用多舵机分时控制方法,设计的运动控制器可驱动机器人足部12个舵机的协调运动,实现了六足仿生机器人按步态规划运动,并通过测试,验证了设计方案的正确性和可靠性。The Hexapod Bionic Robot typical walking gaits was analyzed and location vector expression about different gait of robots was given. Based on two inter-timers of AT89S52 and multi-rudder servo time slicing method, a movement controller was designed. The controller can drive 12 rudders to coordinately work and conform the movement of the gait layout of hexapod bionic robots. By testing it in the lab, it verifies the reliability and correctness of design schemes.

关 键 词：六足仿生机器人 步态 舵机 分时控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TH391.8[自动化与计算机技术—控制科学与工程]