基于ATmega88和Delphi的双足竞步机器人设计  

Design of ATmega88 and Delphi-based biped walking robots

作　　者：叶孝璐 俞立[1] 陈军统 

机构地区：[1]浙江工业大学信息工程学院,浙江杭州310023

出　　处：《微型机与应用》2014年第23期38-40,43,共4页Microcomputer & Its Applications

基　　金：国家自然科学基金资助项目(61273117)

摘　　要：采用自主设计的PCB板和CDS5401舵机设计了一种双足竞步机器人,开发了基于ATmega88的机器人控制系统,基于仿生学原理的步态规划确定了机器人的运动序列。所设计的控制系统不仅操作简单,运行稳定可靠,而且人机交互界面友好,再扩展性强。最后,将所开发的机器人运用于中国机器人大赛双足竞步机器人比赛,取得了优异成绩。This paper is concerned with the design of a biped walking robot. In this system, PCB board and CDS5401 servo is designed as the main material, the robot control system is developed based on ATmega88, the robot＇s movement sequences is determined through the bionics principle. The control system is simple, stable, reliable, and also has the very good human-computer interaction interface and expanded functionality. Finally, the developed robot is used in the Contest of Biped Walking Robot Games in China, and achieved excellent results.

关 键 词：双足竞步机器人 PCB板 ATMEGA88 CDS5401舵机 DELPHI 

分 类 号：TM381[电气工程—电机] TP242[自动化与计算机技术—检测技术与自动化装置]