仿生四足机器人嵌入式控制系统设计与实验分析  

Embedded Control System Design and Experimental Analysis of Bionic Quadruped Robot

作　　者：李锦方[1] 王鹏[2,3] 俞志伟[2] 戴振东[2] 

机构地区：[1]南京机电液压工程研究中心,南京210002 [2]南京航空航天大学仿生结构与材料防护研究所,南京210016 [3]自动化学院,南京210016

出　　处：《科学技术与工程》2014年第23期87-91,共5页Science Technology and Engineering

基　　金：国家973计划(2011CB302106);国家自然科学基金项目(51105201,60910007,51175249);物联网与机器人技术合作项目(YBIN2011059)资助

摘　　要：仿生设计一款小型的单腿具有四自由度的仿生四足机器人,开展机器人运动学正逆解分析。基于ARM Cortex-M3内核的嵌入式芯片建立了机器人控制系统。该控制系统以半双工串口通讯方式向各个关节数字舵机发送步态数据包,控制舵机转动角度值,从而精确地控制四足机器人的稳定协调运动。实验结果表明:机器人在行走过程中机身的横滚角、俯仰角、偏航角(RPY角)变化较小,运动较为平稳,验证了机器人运动学正逆解准确性;以及所设计的嵌入式控制系统能较为精确地控制四足机器人运动,实现稳定的四足行走。该小型的嵌入式控制系统具有运算处理速度快、外设可扩展性和存储能力强的优点,满足仿生四足机器人智能算法、低功耗运动要求。The research object is a small bionic quadruped robot with four degrees of freedom per leg,and the analysis of robot inverse kinematics was also carried out. Control system of the robot uses embedded chip based on ARM Cortex-M3. By the control system, the data packets of gait are sent to digital servos on every joint in a halfduplex communication mode to control rotation angles of servos, so can be control the stable motion of the quadruped robot precisely. Experimental results showed that： during walking the roll angle, pitch angle and yaw angle （RPY angle） of robot body changed lightly, the movement was relatively stable. It validated the design of embedded control system can control the quadruped robot precisely to achieve stable quadruped walking. The small embedded control system has some advantages such as fast processing speed, peripheral scalability and strong storage capacity, so it meets the requirement of intelligent algorithms, low power movement for a bionic quadruped robot.

关 键 词：仿生四足机器人 ARM Cortex—M3 嵌入式控制系统 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]