六足仿生蟑螂机器人设计  

The design of biologically hexapod cockroach robot

作　　者：刘美华[1] 文应基 蒲宏辉 

机构地区：[1]湖南工程学院工程训练中心,湖南湘潭411101 [2]湖南工程学院应用技术学院,湖南湘潭411101

出　　处：《微型机与应用》2015年第6期50-52,55,共4页Microcomputer & Its Applications

基　　金：2014年湖南省大学生研究性学习和创新性实验计划(湘教通(2014)248号;编号422)

摘　　要：介绍了一款基于单片机控制的六足仿生蟑螂机器人。该机器人在外形和足部结构上仿生蟑螂,六足均匀分布于身体两侧,每足给出了3个自由度;机器人的步态采用经典的三足步态法;该运动控制器由STC12C5A60S2单片机和舵机组成,采用多舵机分时控制的方法,机器人能实现按所设计的步态规划进行前进、后退、左转、右转等动作;同时添加了语音模块,机器人能在预定程序下随音乐进行舞蹈动作。A biologic, ally hexapod cockroach robot is introduced in the paper. It is a bionic cockroach in configuration and leg structure. The six legs are evenly distributed at its sides. Three degree of freedom can be obtained in every leg. Typical tirade-legated gait is adopted to realize the gait. Boih of STCI2C5A60S2 mieroeontroller and steering engine are used to form the motion controllon. Because multi-steering engine is adopted for time-sharing control, the robot can realize some aclion such as going forward, goiny backward, turning left, turning right and so on according to the design of gait planning. Moreover, the pronunciation module is, added, so the robot can perform to the music under the scheduled program.

关 键 词：六足仿生机器人 三足步态法 STC12C5A60S2单片机 舵机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]