六足仿生机器人机构与控制系统设计  

Control System and Mechanism Design for Hexapod Robots

作　　者：朱国杰[1] 田文凯[1] 吕承哲[1] 褚林银 王斌锐[1] 

机构地区：[1]中国计量大学机电工程学院,浙江杭州310018

出　　处：《测控技术》2017年第1期55-58,共4页Measurement & Control Technology

基　　金：国家自然科学基金(51575503);浙江省自然科学基金(LY14F030021)

摘　　要：由于六足仿生机器人的足数较多,控制其稳定行走较为复杂,针对控制六足机器人稳定行走的要求,该六足机器人的腿部是参照蚂蚁的腿部结构进行设计,并对其进行建模分析。整个系统在硬件上选取了Arduino、无线模块、显示模块、舵机控制板等;软件上选用Qt Creator在上位机上编程,用于远程遥控六足机器人及观察其行走状态变化;在步态控制上采用了三角步态控制算法。通过设计机械结构、建模分析以及硬件、软件和算法的结合,实现了六足仿生机器人的稳定行走。It is complicated to control the hexapod bionic robot to walk steadily due to its large number of legs. To meet the request of the steady walk, the legs of hexapod bionic robot are designed with reference to the leg structure of ants and by modeling to analyze its features. The whole system chooses Arduino, wireless module, display module, a servo control board and so on in the hardware. The software is written with Qt Creator in up- per computer, which can be used to remote control the robot and observe its state change. The tripod gait con- trol algorithm is adopted in the gait control, With the combination of mechanical design, modeling analysis, hardware, software and algorithm, the stable walking of the hexapod bionic robot is realized.

关 键 词：六足仿生机器人 上位机 下位机 三角步态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]